The goal for an autonomous robot is to be able to construct (or use) a map (outdoor use) or floor plan (indoor use) and to localize itself and its recharging bases or beacons in it.
Cognitive maps enable planning capacities and use of current perceptions, memorized events, and expected consequences.
The allothetic source corresponds the sensors of the robot, like a camera, a microphone, laser, lidar or sonar.
The feasibility of real-time motion planning is dependent on the accuracy of the map (or floorplan), on robot localization and on the number of obstacles.
Alternative systems can be used with floor plan and beacons instead of maps for indoor robots, combined with localization wireless hardware.