In recent decades, intelligent systems have increasingly become part of our everyday lives to the point that robots able to perceive their surrounding environment and interact with it are not a dream anymore. Nowadays, robots are employed extensively in a variety of industries, including manufacturing, packing, transportation, search and rescue, healthcare and surgery. The usage of robots in social contexts, on the other hand, is still in an earlier stage. The areas of localization, mapping, and exploration for autonomous mobile robots have been the subject of substantial research, mainly focused on unknown environments where the robot is able to build 2D map based on its sensor's output.