As a Robot user I want my robot to be able to navigate stairways, ramps or elevators to move to another portion of the multi-story building so that it can do something useful

More details

• Why is this needed?
  • Example: a delivery robot in an office building
• What is the expected user interaction?
  • The user should be able to specify stairways, ramps and elevators on a map for a robot to use or not use
    • via a GUI
    • via a config file or API so that it can be done by another program
• Are there any non-functional requirements? (build system, tools, performance, etc)