Method for constructing a map while performing work

A method executed by a robot, the method comprising:

• starting, from a starting position, a work session in which the robot maps a workspace, wherein a front of the robot faces towards a forward direction in a frame of reference of the robot and, while the robot is in the starting position, the front of the robot faces towards a first direction in a frame of reference of the workspace;
• the robot traversing, from the starting position, to a first position, a first distance from the starting position in a backward direction in the frame of reference of the robot and in a second direction in the frame of reference of the workspace, the backward direction being opposite the forward direction in the frame of reference of the robot, and the second direction being opposite the first direction in the frame of reference of the workspace;
• after traversing the first distance, the robot rotating;
• after rotating, the robot traversing a coverage path of at least one area of the workspace, the coverage path including a boustrophedon movement pattern;
• and
• the robot cleaning the at least one area of the workspace with a cleaning tool of the robot while traversing the coverage path, the robot traversing the coverage path comprising a repeated iteration of:
• the robot traversing a linear segment in a third direction in the frame of reference of the workspace;
• the robot rotating 180 degrees;
• the robot traversing a linear segment in a fourth direction in the frame of reference of the workspace, the fourth direction being opposite the third direction;
• and
• the robot rotating 180 degrees;
• wherein each 180 degrees rotation comprises the robot traversing a distance of less than a coverage width of the robot in a direction perpendicular to the linear segments after starting the respective 180 degrees rotation and before finishing the respective 180 degrees rotation-, covering parts of the workspace wherein, through a plurality of map iterations, a processor of the robot expands a map of the workspace in each map iteration to include a respective part of the workspace covered, and the expansion of the map continues until all perimeters of the workspace are encountered, wherein the encountered perimeters of the workspace define perimeters of the map of the workspace.