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We have made a pair of robot beds to roam around with sleeping visitors at a gallery: http://www.loligo.se/roaming_beds/. Building the robots was a challenge itself, even more so designing an indoor navigation system with enough precision to enable choreographed dance. We ended up using a combination of ultrawideband radio (UWB) and good old odometry. Lidar is used to avoid moving obstacles such as humans. An unexpected problem was that the wheels came from different production batches ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/robot-beds-with-uwb-indoor-navigation