Methods for finding the perimeter of a place using observed coordinates

A robot, comprising:

• a drive motor of the robot;
• a cleaning tool of the robot;
• an exteroceptive sensor of the robot;
• a proprioceptive sensor of the robot;
• one or more processors of the robot;
• and
• memory of the robot storing instructions that when executed by at least some of the one or more processors effectuate operations comprising:
• obtaining, with one or more processors, a stream of spatial data indicative of a robot's position in a workspace, the stream of spatial data being based on at least output of a first sensor, wherein obtaining the stream of spatial data comprises at least:
• obtaining, with the one or more processors, first depth data, wherein:
• the first depth data indicates a first distance from the robot at a first position to a surface of, or in, the workspace in which the robot is disposed,
• the first depth data indicates a first direction in which the first distance is measured,
• the first depth data indicates the first distance and the first direction in a frame of reference of the robot, and
• the frame of reference of the robot is different from a frame of reference of the workspace;
• translating, with the one or more processors, the first depth data into translated first depth data that is in the frame of reference of the workspace;
• and
• storing, with the one or more processors, the translated first depth data in memory;
• obtaining, with one or more processors, a stream of movement data indicative of the robot's displacement in the workspace, the stream of movement data being based on at least output of a second sensor;
• navigating, with the one or more processors, along a path of the robot in the workspace based on the stream of spatial data;
• while navigating, mapping, with the one or more processors, at least part of the workspace based on the stream of spatial data to form or update a spatial map in memory;
• switching to a second mode of operation if the stream of spatial data is unavailable due to the first sensor becoming impaired or inoperative, the second mode of operation comprising:
• navigating, with the one or more processors, along the path of the robot in the workspace based on the stream of movement data;
• and
• indicating, with the one or more processors, in memory areas of the spatial map covered by the robot based on the stream of movement data;
• wherein the spatial map of the at least part of the workspace expands as new areas of the workspace are covered by the robot and spatial data of the new areas of the workspace are obtained and used by the one or more processors to update the spatial map, and
• wherein the spatial map of the at least part of the workspace is segmented into two or more zones.