Use Bedrolls

Bedrolls are used from the inventory (ie when on a caravan)

When a pawn needs to rest but can't find a bed, he'll place a bedroll from his inventory (he can find an uninstalled bed on the ground, or in some other inventory)

Bedrolls are picked back up after sleeping.

People remember their bed from their home colony, so when they use a new bed after a raid, they will re-claim their bed back home.

Bedrolls aren't used if the pawn has an assigned bed. There is an option to use bedrolls if their assigned bed is too far away.

Bedrolls can be created at tailoring benches (in minified form instead of a constructed building)

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Notes: This all technically applies to any type of bed, if you can get a pawn to hold it. They will prefer to find a nearby roofed room to sleep in. Bedrolls are shared amongst members of a caravan: they will all have one so you don't need to find a bedroll from someone else. Though they can grab from others. Beds aren't placed in zones, which would break them. Gizmos on the bed to show it's carried by someone, and you can order a drafted pawn to pick up their bed. You can click the "on caravan" gizmo on a bed to cancel so they don't re-claim the bed. While loading a caravan, beds in the caravan manifest are not used to sleep in (which would remove them the list) (you have bedrooms to use, right?) (worst case you sleep on the ground one night while loading a large caravan.)

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Do you want to get food from animal's inventory? Meals On Wheels

Do you want medicine from your inventory? Smart Medicine

Do you want to build from your inventory? Build From Inventory

If you want to use bedrolls from inventory on the home map .. I guess Pick up and Haul will let you pick them up for that purpose

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Ludeon Forum (modpack) : https://ludeon.com/forums/index.php?topic=40701.0 Github source : https://github.com/alextd/RimWorld-UseBedrolls