| CPC B25J 13/003 (2013.01) [B25J 9/0003 (2013.01); B25J 9/161 (2013.01); B25J 9/162 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 11/0005 (2013.01)] | 16 Claims |
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1. A method implemented by one or more processors, the method comprising:
determining, by a mobile robotic computing device and based on a map generated based at least in part on sensor observations of the mobile robotic computing device, that the mobile robotic computing device is currently located within a particular area of a structure;
while the mobile robotic computing device is located within the particular area:
causing a first subset of smart devices to each emit one or more first outputs, wherein the one or more first outputs are audible and/or visual, and wherein the one or more first outputs are caused to be emitted during a first temporal window responsive to the first subset of smart devices each being assigned a first semantic label in a home graph;
causing a second subset of the smart devices to each emit one or more second outputs, wherein the one or more second outputs are audible and/or visual, and wherein the one or more second outputs are caused to be emitted during a second temporal window responsive to the second subset of smart device each being assigned a second semantic label in the home graph; and
obtaining sensor data during the emission of the one or more first outputs and the one or more second outputs, wherein the sensor data is generated by one or more sensors of the mobile robotic computing device;
determining, based on analysis of the sensor data, that the first subset of smart devices are co-located with the mobile robotic computing device in the particular area, wherein determining that the first subset of smart devices are co-located with the mobile robotic computing device in the particular area comprises:
determining that a magnitude, of the detected output that occurs during the first temporal window, is greater than an additional magnitude of additional detected output that occurs during the second temporal window; and
in response to determining that the first subset of smart devices are co-located with the mobile robotic computing device in the particular area:
assigning an inferred semantic label to the particular area, the inferred semantic label being the same as, or derived from, the first semantic label assigned to the first subset of smart devices in the home graph.
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