Fuente: Wipo "Sensorization" Some aspects include a method for operating a cleaning robot, including: capturing LIDAR data; generating a first iteration of a map of the environment in real time; capturing sensor data from different positions within the environment; capturing movement data indicative of movement of the cleaning robot; aligning and integrating newly captured LIDAR data with previously captured LIDAR data at overlapping points; generating additional iterations of the map based on the newly captured LIDAR data and at least some of the newly captured sensor data; localizing the cleaning robot; planning a path of the cleaning robot; and actuating the cleaning robot to drive along a trajectory that follows along the planned path by providing pulses to one or more electric motors of wheels of the cleaning robot.