Figure 6
The facility map shows the trajectory of a robot navigating through multiple labeled zones. The map includes color-coded areas and directional markers. A dashed purple line represents the robot’s trajectory. Black dots are placed along the trajectory line, marking specific locations. Green areas are labeled Indoor (no G P S). Orange areas are labeled Transition zone (weak G P S). Blue areas are labeled Outdoor. The robot’s path begins at the location marked “L 1” in the green Indoor zone, proceeds into the adjacent orange Transition zone, then continues into the large blue Outdoor area where it travels to the location marked “L 2,” before looping back through the blue Outdoor area, re-entering the orange Transition zone, and returning to “L 1.” The trajectory line passes through Indoor, Transition, and Outdoor zones, indicating the robot’s seamless movement across varying G P S signal environments.Map of the test area. Source: Authors' own work