A KPI Framework for Evaluating Indoor Service Robot Performance Toward Robot-Friendly Building Environments

Indoor service robots are increasingly deployed in indoor environments, yet their performance is influenced not only by robot specifications and control algorithms but also by built-environment conditions and interior finishes. This study proposes a performance indicator framework for service robots in robot-friendly built environments using an evidence-based design approach. A systematic literature review identified 21 sources of evidence related to robot–built-environment interactions and measurable performance outcomes. The evidence was synthesized according to environmental conditions, robot responses or failures, performance outcomes, and measurable outputs. Six indicators were derived: mean sensing-distance accuracy, travel-time delay coefficient, mapped-corner deviation, rated-speed reduction coefficient, path deviation, and cumulative travel-induced damage coefficient. The expert evaluation used a 30-item questionnaire comprising five evaluation criteria. Of the 31 respondents, 26 worked in architectural construction or design and five in robot-related fields. The overall mean score was 4.00 out of 5, and the positive-response rate was 73.8%; mean sensing-distance accuracy received the highest rating. These results show that the framework’s appropriateness and potential usefulness were positively evaluated within this sample. However, they do not demonstrate the empirical validity or field applicability of the performance indicators. Controlled robot experiments remain necessary to establish calculation methods, measurement units, application ranges, and performance thresholds.