- Collection of data: the robot should be able to record the positions of different items in its surroundings.
- Data Integrity: we have to check the validity and consistency of the data.
- Interpretation of data: the robot should be able to interpret the data to ensure that it makes sense.
- Result to a map: the data is then converted to a map using the appropriate model.
- Usage of the map: the robot should be able to use the map to navigate through space.