Method for a robotic device to polymorph, adapt, and actuate in real time to respond to a perceived stimuli based on a probabilistic prediction of an outcome given a certain response

A robotic device for autonomously adjusting to different floor surfaces for cleaning the floor surfaces of an environment, comprising:

• a chassis;
• a set of wheels coupled to the chassis;
• a plurality of sensors;
• a plurality of cleaning components;
• a processor;
• one or more tangible, non-transitory, machine-readable media storing instructions that, when executed by the processor of the robotic device, effectuate operations, comprising:
• measuring distances, with a Light Detector and Ranger (LIDAR) sensor of the robotic device, as the robotic device moves in the environment, and generating or ascertaining, with the processor, a map of the environment based on at least the distances measured by the LIDAR sensor of the robotic device;
• capturing, with an image sensor of the robotic device, images of the environment as the robotic device moves in the environment;
• detecting, with the processor, at least a presence of objects on the floor surfaces based on images captured by the image sensor of the robotic device;
• capturing, with a floor sensor of the robotic device, sensor data from the floor surfaces of the environment;
• determining, with the processor, a type of floor surface in areas of the environment based on the sensor data captured from the floor surfaces by the floor sensor of the robotic device;
• identifying, with the processor, a presence of a difference in the type of the floor surface within the environment, and adjusting, with the processor, an elevation of a cleaning component of the robotic device in response to the difference in the type of the floor surface;
• determining, with the processor, a location of the robotic device within the environment as the robotic device moves within the environment;
• identifying, with the processor, a presence of a difference in elevation between the floor surfaces;
• and
• adjusting, with the processor, the elevation of the robotic device in response to the difference in elevation between the floor surfaces.