I need Help with my Project

So, hi guys, my name is claudio, and currently i'm working on a robot vaccum, for my school project. So the robot was built using Arduino Mega, with a motor shield L293D. It has 2 Micro DC motors with gears, using 2 ultrasonic sensores on the sides, and a sensor on the bottom to avoid holes.
so, first of all, i wanted to know, is it possible, for example, the robot starts in a point, he then goes a full lap around the room (8cm away from the walls) then, on the second lap i wanted him to be like 16 cm away from the walls, then 24cm, etc... is that possible? and how is it possible?

Thanks alot guys!

You've told us virtually nothing about your robot.
Bipedal?
Tracked?

Sorry Awol, the information was updated. thanks!

@claudio:

Please do not cross-post. This wastes time and resources as people attempt to answer your question on multiple threads.

Threads merged.

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One way of accomplishing that would be to have sensors that measure distance both forward and sideways and using them to move forward t a constant distance from a wall until you reach the same distance from the next corner.

It could get problematic in environments that are irregular though.

Yeah, thanks, but even if he found a couch, for example, he could still messure 8cm from it, i think