Map management

Available in VPC

Manage maps for all buildings and floors on your site to run robot services. Use the map editor to provide building maps and robot maps for delivering robot services to specific buildings and floors on your site.

Map management interface

The Map management interface includes the following components:

Robot map

Create, edit, and manage robot maps.

Create a robot map

To create a robot map:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. From the map list, click [Create map] for a map without a Robot map.
   • When a building map exists but no robot map is registered, a No robot map message appears in the Robot map column.
4. When the map editor opens, create a robot map.
   • For details, see Map editor.
5. Click [Save] in the top right corner of the map editor interface.
   • The robot map is created.

Edit a robot map

To edit a registered robot map:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. From the map list, click [Edit map] for a map that has both a Building map and Robot map.
4. When the map editor opens, edit the robot map.
   • For details, see Map editor.
5. Click [Save] in the top right corner of the map editor interface.
   • The robot map is updated.

View robot map version history

To view the version history of a robot map:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. From the map list, click the version name in the Robot map column.
4. In the popup that opens, review the robot map version history:
   • Version: Robot map version information.
     • Displays v1 when first created.
     • Increments by 1 with each update.
       • Example: v2, v3, v4
   • Updated: Date and time of each version update (yy-mm-dd hh:mm:ss).
   • Editor: User who modified the version.
   • Comments: Comments entered when saving each version.
   • Select a specific version to open its map editor interface.
     • Click [Restore to this version] to revert to the selected version.
     • The right panel shows all versions for that map.
5. Click [OK].

Map editor

Create robot maps and register, edit, and delete map information required for facility integration.

Robot map components

A robot map consists of nodes, edges, and areas.

Node

Set up nodes required for facility and service integration. A node consists of x and y coordinates and θ (the direction the robot faces when it stops at the node).

• Node types

  • Default: Default node type
  • Robot Elevator: Required for robots to use elevators
  • Robot Elevator Gate: Entrance to the robot elevator lobby
  • Speed Gate: Security gate
  • Auto Door: Automatic door
  • Normal Elevator: Passenger elevator
  • Docking Station: Chargers and rack carts
  • Rotation: Designated spot where robots rotate at a waiting node
  • Docking: Multi-node docking zone, including chargers
  • Queueing: Multi-node zone where robots wait in line
  • Layover: Multi-node zone for temporary waiting when the planned waiting zone is full
  • Waiting: Multi-node zone where robots wait

• Node attributes

  • Common attributes:
    • EXCLUSIVE: Only one robot can move to this node at a time.
    • CHECK_WIFI_FLOOR: Sends an alert if the robot reports being on a different floor than expected by ARC brain.
  • Passenger elevator attributes:
    • WAITING_EV: Where robots wait and queue when calling an elevator.
    • WAITING_GETTING_ON_EV: Where robots wait before boarding; verifies the elevator call and calls again if necessary.
    • EXIT_COMPLETE_EV: Where robots close the elevator door after exiting, allowing other robots to board.
  • Door attributes:
    • WAITING_AUTOGATE: Where robots open the door and wait until it's fully opened.
    • GATE_OPEN_WAIT_TIME: Waiting time after the door starts to open (up to 30 seconds).
    • RADIUS_(n): Door closes only when the robot moves beyond the set radius (n cm).
    • USING_DEV_TYPE_OPEN_COMPLETED: Signals when the door is completely open.

Zone

Combine multiple nodes into a single zone to set up robot pathways and configure the required settings.

• Zone types
  • Queueing: Robot queueing area
  • Waiting: Robot waiting area
  • Layover: Temporary waiting area when the planned waiting zone is full
  • Docking: Area for docking at chargers or rack carts

Edge

An edge is a line that connects nodes.

• Edge length
• Edge direction
  • One-way (reversible)
  • Two-way
• Navigation mode
  • Autonomous (default): Standard autonomous driving where robots avoid moving obstacles.
  • Strict: Robots stick closely to the path and minimize obstacle avoidance.
  • SemiStrict: Robots stay on the path and avoid obstacles less.
  • WallFollowing: Robots navigate by following walls.
  • PreciseWallFollowing: Robots navigate by following walls precisely.

Area

Define an area where the robot's navigation mode changes as a polygon. Add, edit, or delete area types.

• Area types
  • Virtual wall (default): Robots stop when entering the area.
  • Fire hazard (default): Robots follow fire alert procedures when in this area.
  • Exclusive area (default): Limits the number of robots in this area (1-5 robots).
  • Metallic: Deactivates some sensors.
  • Slim: Reduces the safety distance so robots can move closer to obstacles.
• Display on monitoring page: Choose whether to display information on the Robot monitoring interface.

Assistant tool

Edit guiding lines, align nodes and edges, and move maps.

• Smart grid: Shows guiding lines at specific distances from walls.
• Align: Aligns nodes and edges based on other nodes and edges.
• Hand: Allows you to drag the map around.

Map editor interface

The map editor interface includes the following components:

Component	Description
① Menu name	Current menu name.
② Last update	Date of the map's last update (yyyy.mm.dd). Click to open the View robot map version history page.
③ User information	Users currently editing the map. Number shows other users currently connected. Click to view their information.
④ [Validity check]	Check if your map edits are valid.
⑤ [Save]	Save the map information you're currently editing.
⑥ Floor navigation	Navigate between floors. Click to move to a different floor on the map.
⑦ Editing tools	Toolbar for editing map components. : Create, edit, and delete nodes and edges. Create an edge by connecting nodes (default: one-way). Click the node or edge again to delete it. : Create, edit, configure, and view areas. : Create, edit, configure, and view furniture. : Create, edit, configure, and view building areas. For details, see Robot map components.
⑧ Adjustment tools	Toolbar for adjusting the map view or position. : Select an object. : Click and drag to move around the map (panning). : Rotate the map to change the viewpoint (view rotation).
⑨ Undo and redo	Undo or redo your current edits. Undo: Reverses your last action. Redo: Restores an action you just undid.
⑩ Overall map status	Current status of the areas, zones, and buildings you're editing. Area: See Map editor area. Zone: See Map editor zone. Manage service zone: Click to open the Manage service zone page. Building: See Map editor building.
⑪ Zoom controls	Toolbar for zooming in and out of the map. : Reset to default zoom level (100%). : Zoom in. : Zoom out.
⑫ Login expiration time	Date and time when your current login session expires (yyyy-mm-dd hh:mm).
⑬ Map filters	: Filter map components. Building Area Node Edge Furniture Grid: Distance from a wall (cm) For details, see Robot map components.
⑭ Robot map	Map for registering information required for robot pathways and facility integration.

Set node information in the map editor

To set node attributes and types in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, create a node using the node creation tool.
5. Set up the node using the Node information panel on the right.
   • Node ID: Generated automatically.
     • Click to copy the node ID.
   • Coordinate values: Automatically filled using the map's own coordinates.
     • X and Y: Show up to 5 decimal places.
     • Z: Shows the complete coordinate.
   • Type: Select the node type.
     • Some types need a zone setup.
       • Zone name: Enter the zone name and click [Add new].
     • For details, see Node types.
   • Attribute: Add attribute values for facilities registered in the map editor.
     • For details, see Node attributes.
   • Send webhook: Enter a webhook URL.
     • Used when the service wants to receive data through the API when the robot arrives at a specific location.
   • Send BT: Enter the Behavior Tree (BT).
     • Used to update the BT blackboard with attribute values entered in the map editor when the robot arrives at a specific location.
     • Example: When the robot arrives at or passes through a specific location, you can update the BT blackboard to change the expected robot interactions in the service scenario.
   • Specify rotation node: Enter the node ID where the robot should go after rotating at this point.
   • Test field: Enter keys and values.
     • Used when you want to send data to the robot from a particular node.
     • Sends developer-set values from this node to the robot through the map editor.

Set edge information in the map editor

To set edge information in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, create an edge using the edge creation tool.
5. Set up the edge using the Edge information panel on the right.
   • Edge ID: Generated automatically.
     • Click to copy the edge ID.
   • Edge length: Automatically filled using the map's settings.
   • Direction: Choose between one-way and two-way.
   • Navigation mode: Choose the navigation mode for this edge.
     • To add a new navigation mode, see Add a navigation mode.
   • Test field: Enter keys and values.
     • Used when you want to send data to the robot from a particular node.
     • Sends developer-set values from this node to the robot through the map editor.
   • Send BT: Enter the Behavior Tree (BT).
     • Used to update the BT blackboard with attribute values entered in the map editor when the robot arrives at a specific location.
     • Example: When the robot arrives at or passes through a specific location, you can update the BT blackboard to change the expected robot interactions in the service scenario.

Add a navigation mode

To add a navigation mode to an edge in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click the edge you want to configure on the map.
5. Click next to Navigation mode in the Edge information panel on the right.
6. In the Add navigation mode dialog, enter the following information:
   • Navigation mode ID: Enter the navigation mode ID you want to create.
   • Navigation mode name: Enter the navigation mode name you want to create.
   • Color: Enter a color code for the navigation mode.
   • Thickness: Choose a thickness for the navigation mode line.
     • Default line
     • Bold line
7. Click [Save].
   • The navigation mode is added.

Set area information in the map editor

To set area information in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, create an area using the area creation tool.
5. Set up the area using the Area information panel on the right.
   • Area name: Enter a name for the area.
     • Names can be edited.
   • Display on monitoring page: Choose whether to display information on the Robot monitoring interface.
   • Area type: Select the area type from the dropdown.
     • For details, see Area.
     • To add a new area type, see Add a new area type.
   • Click [Delete] in the top right corner to delete an area.

Add a new area type

To add a new area type in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click Area on the right panel.
5. From the area list, select the new area type you want to add.
6. Click next to Area type.
7. In the Add new area type dialog, enter the following information:
   • Type ID: Enter the area type ID.
   • Type name: Enter the area type name.
   • Color: Enter the color code to be displayed on the area type list.
8. Click [Save].
   • The new area type is added.

Set zone information in the map editor

To set zone information in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click Zone on the right panel.
   • Manage service zone: Click to go to the Manage service zone interface.
5. Click the name of the zone you created in the Set node information in the map editor stage and enter the following information:
   • All zone types: Select the zone type from the dropdown.
     • For details, see Zone.
   • Allow excess reservation: Choose whether to allow overbooking.
   • Service settings: Select the service type and zone ID.
     • Service type: Select the service type.
     • Zone ID: Generated automatically.
     • Click to go to add service settings or delete service settings.
       • You can add multiple service settings.
   • Node list: Automatically shows all nodes within the selected zone.
   • Click [Delete] in the top right corner to delete a zone.

Add service settings

To add new service settings in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click [Create map] or [Edit map] from the map list.
4. When the map editor opens, click Zone on the right panel.
5. Select the zone where you want to add service settings from the list.
6. Click next to Service settings.
7. To add new service settings, enter a set of module information consisting of the Service type and Zone ID.
   • Service type: Type of service using the zone.
     • Default value: First service created with user permissions.
     • A zone cannot be used for multiple services. Services that have already registered a zone are excluded from the dropdown.
   • Zone ID: Zone ID used in the service.
     • Default value: Generated automatically.
     • Can be edited by the user.
   • Settings are sorted in order of registration.
   • Up to 5 settings can be configured.
8. Click .
   • The new service settings are added.

Delete service settings

To delete service settings from a zone in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click Zone on the right panel.
5. Select the zone where you want to delete service settings from the list.
6. Click next to Service settings.
7. Click Delete next to the Service type you want to remove.
   • This deletes the complete set consisting of Service type and Zone ID.
8. Click .
   • Your service settings are deleted.

Set and manage a service zone

To set and manage a service zone in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click Zone on the right panel.
5. Select Service settings > Service type.
6. Click the zone on the right.
   • The service zone is highlighted on the map.

View building information in the map editor

To view building information in the map editor:

1. Access the admin console (see Access the admin console).
2. Click the Map management menu.
3. Click the Robot map version from the map list.
4. When the map editor opens, click Building on the right panel.
5. Select a building from the list to view its details.
   • Building name: The name assigned when the building was created.
   • Click [Delete] in the top right corner to delete a building.