1. Introduction
Due to a faster pace of life in most of the developed world, floor cleaning is often seen as a dull, dirty, laborious, time-consuming, and tedious job (Figure
1(a)
) giving rise to the development of robotic products for handling the cleaning task autonomously. Such robotic platforms have given their vast potential by improving productivity in cleaning jobs in domestic and commercial settings and witnessed a steep rise over the last two decades [1]. It is estimated that between
sTetro设计：一种模块化、可重构的自主楼梯清洁机器人-5637字.docx