Abstract The basic idea is to construct a mobile patrolling robot for security and monitoring. For an on-demand robotic system, a location aware module provides location information of objects, users, and the mobile robot itself. The probability-based location aware module is modified to handle RSSI measurements with a maximum of calibration. The resultant location calibration module will be more light-weight. In addition, coherent functional global patterns and principal of emergence is introduced into the mobile robot. The use of WSN sensors increases the flexibility of mobile robot. In addition to this, a communication algorithm is designed with minimal overhead for transmitting process request and feed between the robot, WSN, user and server. The location aware module and the message passing algorithm make use of DVR algorithm to compute the distance between the mobile robot and WSN. A fault tolerant feedback control system is programmed to handle fault up to certain extent. The light weight location calibration and communication module is integrated into a current formation mobile robot with intruder detection system having the capability of capturing and transmitting live feed of the area under surveillance to the user’s mobile in real time.