使用iBeacons跟踪Android手机上的arduino设备

I have an arduino robot and I wish to track its location on an indoor map on my android phone. I can create an indoor map and upload it to google maps. Depending on its location in the building the android would issue commands to the arduino robot to navigate to a specific area in the building or carry out some other task. How can I track its location at all times inside a building? If I set up beacons through out the building, I can make the arduino device advertise itself to these beacons.....then I would somehow need the beacons to communicate the arduino device location back to the android phone. Can someone tell me how to do this?I have an arduino robot and I wish to track its