- Sensors: range sensors are the typical tools used to record data.
- Self localisation: data is meaningful only if it is associated with a proper frame of reference.
- Position tracking: the data of a new state is relative to the data of the previous state.
- Shape based model is used to interpret our data and produce a map.
- The map is then used by the robot as a set of rules to be applied when responding to a user’s request.