Method of lightweight simultaneous localization and mapping performed on a real-time computing and battery operated wheeled device

A battery operated wheeled device, comprising:

• a chassis;
• a set of wheels;
• a plurality of sensors;
• a processor;
• and
• a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
• capturing, by a primary sensor coupled to the wheeled device, primary sensor data indicative of a plurality of radial distances from the primary sensor to objects within a maximum range of the primary sensor as the robot performs work within an environment;
• transforming, by the processor of the wheeled device, the plurality of radial distances from a perspective of the primary sensor to a perspective of the wheeled device based on a physical position of the primary sensor relative to a body of the wheeled device;
• generating, by the processor, a partial map of visible areas of the environment in real-time at a first position of the wheeled device based on the primary sensor data and at least some secondary sensor data, wherein:
• the partial map is a bird's eye view of the environment;
• and
• the processor iteratively completes a full map of the environment based on new sensor data captured by sensors as the wheeled device performs work within the environment and new areas become visible to the sensors;
• and
• executing, by the wheeled device, a movement path to a second position.