Constrained robot autonomy language

A system comprising:

• data processing hardware;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving a navigation command to navigate a robot along and in contact with a ground surface to a mission destination;
• generating a route specification for navigating the robot from a current location to the mission destination, the route specification comprising a series of route segments including a first route segment and a second route segment, wherein the first route segment comprises:
• a goal region;
• a constraint region encompassing the goal region, the constraint region establishing boundaries defining an area of the ground surface for the robot to remain within while traversing toward the goal region, wherein the constraint region is aligned with and includes an edge connecting the goal region of the first route segment to a goal region of the second route segment;
• and
• an initial path for the robot to follow while traversing the first route segment;
• instructing the robot to traverse the initial path;
• and
• selecting a size of the constraint region based on a capability of the at least one sensor and/or a fidelity of the map.