Modeling buildings in the context of Mobile Robotics

The thesis of this paper is that models of buildingd used so far are not capable to support real-life indoor applications. Taking advantage of substantial progress that took place over the last decade in the AEC-industry, we propose a multi-model that contains coherent information regarding geometry, topology and functional semantics of a building. this mutyi-model provides all information required for indoor navigation, planning and human-robot interaction, being at the same time much more lightweight than the model serving purposes of building design and construction.