Method for constructing a map while performing work

A robot, comprising:

• a drive motor configured to actuate movement of the robot;
• at least one sensor coupled to the robot;
• a processor onboard the robot and configured to communicate with the sensor and the drive motor;
• and
• memory storing instructions that when executed by the processor cause the robot to effectuate operations comprising:
• capturing, with at least one sensor of a robot, first data indicative of the position of the robot in relation to objects within the workspace and second data indicative of movement of the robot;
• recognizing, with a processor of the robot, a first area of the workspace based on at least one of:
• a first part of the first data and a first part of the second data;
• generating, with the processor of the robot, at least part of a map of the workspace based on at least one of:
• the first part of the first data and the first part of the second data, wherein the part of the map comprises the first recognized area;
• generating, with the processor of the robot, a first movement path covering at least part of the first recognized area of the workspace;
• actuating, with the processor of the robot, the robot to move along the first movement path;
• recognizing, with the processor of the robot, a second area of the workspace based on at least one of:
• a second part of the first data and a second part of the second data;
• updating, with the processor of the robot, the at least the part of the map of the workspace based on at least one of:
• the second part of the first data and the second part of the second data, wherein the updated part of the map comprises the first and the second recognized areas;
• generating, with the processor of the robot, a second movement path covering at least part of the second recognized area of the workspace;
• and
• actuating, with the processor of the robot, the robot to move along the second movement path,
• wherein actuating the robot to move along at least one of the first movement path and the second movement path comprises a repetitive iteration of:
• actuating, with the processor of the robot, the robot to traverse a first linear segment;
• actuating, with the processor of the robot, the robot to rotate 180 degrees in a first rotation, wherein the first rotation comprises traversing a distance of less than a coverage width of the robot in a direction perpendicular to the first linear segment after starting the first rotation and before finishing the first rotation;
• actuating, with the processor of the robot, the robot to traverse a second linear segment;
• and
• actuating, with the processor of the robot, the robot to rotate 180 degrees in a second rotation, wherein the second rotation comprises traversing a distance of less than a coverage width of the robot in a direction perpendicular to the second linear segment after starting the second rotation and before finishing the second rotation.