A modern mobile robot, when given a small, static, and visible environment, can easily determine its location and map its environment; however, dynamic environments, such as (in endoscopy) the interior of a patient's breathing body, pose a greater challenge.
Silih tunggul mobile robot sane modern, yaning kaicen wawidangan sane alit, nenten maileh, taler  prasida kasuryanin, dangan  nguningin genah miwah nitenin wawidangannyane ; nanging, wawidangan sane mauwah , sekadi ( ring endoskopi) wawidangan ring angga nafas pasien, ngawinang  tantagan sane ageng