The mapping approach can be improved to represent the real structure of the environment. For example, by changing the structure of the cells from a square to a polygon (more than four edges), the robot will have a better appreciation of the environment. Moreover, such structure will increase the degrees of freedom of the robot and will enable it to move more humanly.

For each cell in the grid, it is possible to attach any relevant qualitative information. For example, a picture can be linked to a cell and be used at a later stage to visually recognize part of an obstacle. With the evolution of visual recognition technologies, the robot can distinctly identify objects (for example a bottle of beer), and can subsequently execute specific tasks like "remove the cake from the microwave".

Our mapping approach was designed for an indoor environment. But equipped with a GPS, it is possible to design a robot able to navigate both in an indoor and outdoor environment. In an indoor environment, the robot will recall its map of the house. In an outdoor environment, the robot will use the GPS device to safely navigate to its destination.