Autonomous Multi-floor Logistics:  A Comprehensive Survey on Vision-Guided SLAM  and Navigation Frameworks for Multi-floor Indoor  Delivery Robots

Author(s)	Prof. Harshith V, Prabhas K S, Sathwik Padmanabha, Vedanta M S
Country	India
Abstract	The Autonomous Mobile Robots (AMRs) are increasingly being deployed in hotels, offices and college complexes, where they deliver objects from one point to another. However, extending navigation to multi-floor environments introduces new challenges such as vertical movement, multi-level mapping and dynamic human interaction. SLAM is one of the most essential and fundamental technologies that allows autonomous bots to create a map of the indoor environment and estimate their location in it. This survey consolidates recent progress in different types of SLAM algorithms: W-VSLAM, ORB-SLAM2/3, RI-LIO, RGB D based SLAM, sensor-fusion techniques: LVI-SAM, RI-LIO, FAST-LIO2, FAST-LIVO, LVI-fusion, and multi-sensor fusion SLAM systems designed for indoor multi-floor navigation. It further examines mapping, localization, path planning, and autonomous elevator interaction strategies, identifies limitations, and highlights opportunities for future work.
Keywords	Autonomous mobile robots, SLAM, multi-floor navigation, sensor fusion, eleva tor interaction, LiDAR-inertial odometry, visual-inertial odometry, 3D mapping, autonomous delivery, indoor localization, path planning
Field	Computer > Automation / Robotics
Published In	Volume 7, Issue 6, November-December 2025
Published On	2025-11-15
DOI	https://doi.org/10.36948/ijfmr.2025.v07i06.60568

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