Robotic system

A self-propelled robot configured for movement over a trackless surface to be treated, the robot comprising:

• a power supply;
• a traction mechanism configured to receive power from the power supply and move the robot over a trackless surface;
• a dispense mechanism adapted to controllably deposit a fluent material onto the trackless surface;
• a plurality of navigation sensors providing signals for enabling the robot to navigate over the trackless surface;
• one or more deposition detectors adapted to detect the presence of the fluent material on the trackless surface and provide signals indicative thereof;
• and
• a control system configured to receive the signals from the navigation sensors and the one or more deposition detectors and operably dependent upon the signals to control the traction and dispense mechanisms, wherein the control system comprises a hierarchical architecture and includes one or more microprocessor controllers or microcontrollers for controlling higher-level functions and providing higher-level instructions;
• and a plurality of lower-level function modules adapted to receive signals from the navigation sensors and deposition detectors and having processors to provide control signals in response thereto, wherein higher-level functions comprise robot impact recognition, room size estimation, clutter level determination and battery monitoring.