I am not done with my robot, I mean I still have a lot of hardware stuff to deal with, then figure out how the low level functions will work (and mapping is one of those functions) until I will be in your shoes.
But here are my thoughts:
- have the robot interact with it's environment
- have the robot interact with people
- have the robot to have moods, like happy, bored, hungry, active, curious...
The moods will trigger some related actions, for instance if it's hungry it will find the charging station to feed, if it's fed it becames active and looks around for people to play with, if it doesn't find people it becames bored and just sits there for a while, if it gets curious it explores the environment, if it finds some small objects that it can grab it takes them away and maybe hides them in a secret place...
This is a pet robot. You may want to play fetch with the robot, or have it take some object to a specific place in the room or to some other person. There may be a guardian robot, or a buttler robot, or a cleaning robot... It all depends what kind of robot You build. And don't stop at mapping, there are speech chips, cameras, lots of other cool stuff to add to your robot! Don't spend too much time calculating a goal, have it chose a goal from a list of possible goals or You give it a goal!