Digital model rectification with sensing robot

A system, comprising:

• a robot;
• a sensor supported by the robot;
• and
• a computer remote from the robot, the computer including a processor and a memory;
• the memory storing a digital model of an area, the digital model specifying objects and positions of the objects in the area;
• and
• the memory storing instructions executable by the processor to:
• identify a set of navigable paths based on a stored map of the area, the navigable paths defining data collection areas from which data is collectable by the sensor when the robot is navigating along the navigable path;
• select a subset of navigable paths from the set of the navigable paths based on the data collection areas, the subset of navigable paths selected in part by first identifying a first navigable path and a second navigable path having overlapping data collection areas and then selecting one of the first navigable path or the second navigable path for the subset of navigable paths and refraining from selecting the other of the first navigable path or the second navigable path of the subset of navigable path;
• actuate the robot to move along the navigable paths;
• actuate the sensor supported by the robot to collect data while actuating the robot to move along one or more of the navigable paths;
• identify, in the data collected while actuating the robot to move along one or more of the navigable paths, one of the objects specified in the digital model of the area based on a comparison of parameters of the objects in the digital model with parameters of the data collected while actuating the robot to move along one or more of the navigable paths;
• and
• update the position of the identified object in the digital model based on the collected data.

A method, comprising:

• decomposing a stored map of an area into a plurality of polygonal sub-areas;
• generating a set of target locations in the polygonal sub-areas according to an algorithm, each of the target locations of the set defining a circular data collection area that has a diameter based on data collection capabilities of a sensor supported by a robot, the algorithm determines the set of target locations by positioning the circular data collection areas within each of the polygonal sub-areas;
• identifying a first circular data collection area of one of the target locations of the set of target locations that is overlapped by a second circular data collection area of another of the target locations;
• removing the target location defining the first circular data collection area from the set of target locations;
• actuating the robot to move to a first one of the target locations of the set;
• actuating the sensor supported by the robot to collect data at the first one of the target locations;
• actuating the robot to move to a second one of the target locations;
• and
• actuating the sensor supported by the robot to collect data at the second one of the target locations.