INFORMATION PROCESSING APPARATUS, MOVABLE APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

An information processing apparatus that controls the movement of a movable apparatus acquires information regarding surroundings of the movable apparatus, analyzes the type of an object that is present around the movable apparatus by using the acquired sensor information, and generates or updates an environment map that is surrounding information of the movable apparatus on the basis of the analyzed type of the object.