Abstract: Methods, devices, systems, and non-transitory process-readable storage media for guiding behaviors of robots within a deployment site by communicating updated instruction sets through beacon devices or other proximity mechanisms. In an embodiment, a processor of a beacon device may perform operations including presenting (e.g., broadcasting, rendering, etc.) an instruction set to a first robot, receiving an instruction set update from the first robot, modifying the stored instruction set with the update, and presenting the modified instruction set to a second robot. Similarly, a robot may be configured with instructions for executing a stored instruction set to cause the robot to perform various actions, generating the instruction set update in response to performing the actions based on an execution of the stored instruction set, and presenting the instruction set update to the beacon device. Robots may also be configured to configure and deploy beacon devices.

Abstract: Methods, systems, and devices are described for determining an orientation of a mobile device. One method includes capturing, at the mobile device, an image of at least one illuminated object defining an illuminated reference axis; determining a first angle between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle between the illuminated reference axis and a common reference axis; estimating a third angle between the device reference axis and the common reference axis; and determining an orientation of the mobile device based at least in part on the first angle, the second angle, and the third angle.

Abstract: Methods, systems, and devices are described for determining an orientation of a mobile device. One method includes capturing, at the mobile device, an image of at least one illuminated object defining an illuminated reference axis; determining a first angle between the illuminated reference axis and a device reference axis of the mobile device; determining a second angle between the illuminated reference axis and a common reference axis; estimating a third angle between the device reference axis and the common reference axis; and determining an orientation of the mobile device based at least in part on the first angle, the second angle, and the third angle.