This is an idea I have for some time and I would like a little squeeze.
A navigation system for corridors but also for the house in general.
This is placing two ping sensors, one on the left and one on the right of the robot (on the sides) and take readings almost simultaneous.
Then make a script that allows measurements equate the two so that Correct the robot path and always flows through the center of the hall.
Let's say this is the beginning of the theory and that the Scale system is called ultrasonic, if this is handled by a script, and can be combined with other scripts, the way " Scale electronic" can be interrupted when the corridor forces you to turn the right for example, the sensor readings and not make a total of 30 inches (15 per side) for example, but 15 inch mark on the left and on the right 40, which sum 55 inches, very different 30 inches of aisle.
This would be a way for the robot to make a decision, locate the end of the hallway or even distinguish the different rooms running through their center and measuring the total distance side.
Data could also be used as light or room acoustics combined with ultrasound report distances to obtain a more reliable without being infallible report, I think it would be enough with a 93% chance of success.