Robot operations in mega indoor facilities, such as airports, caves, and underground sewage or electrical systems, have posed significant challenges and request for a long time. Robots can greatly enhance efficiency and improve operations, allowing workers to save considerable time on travel within the facility.

Without GPS positioning, robot rely on its own sensors for navigation. A common problem of AMR (Autonomous Mobile Robot) is the SLAM (Simultaneous Localization and Mapping) and ROS (Robotic Operation System) architecture cannot manage extra large area. Limited computing resources, sensor's accuracy, accumulated error and changing environments cause robot navigation failure. 
The aim of this project is to develop some algorithms to solve the above problems and deploy robots to such mega facility for operation.