And here's an honest answer - it is likely to be option 2. In over a decade of indoor robotics I have _never_ seen a beacon-based solution that practically sca

And here's an honest answer - it is likely to be option 2. In over a decade of indoor robotics I have _never_ seen a beacon-based solution that practically scales (even marker-based solutions are challenging). And it's not because the tech is even bad – it's just that any process that involves _installing things_ is a PITA and wildly more expensive and time-consuming that it should be. This kind of sucks but it is an unfortunately reality, in my experience at least.