A method for semi-autonomous operation of a robotic device in a room. In the method, one or more goal points are set and the distances between the robotic device and the one or more goal points are determined. A first one of the one or more goal points is selected and the robotic device is maneuvered...http://www.google.com/patents/US7031802?utm_source=gb-gplus-sharePatent US7031802 - Semi-autonomous operation of a robotic device
