Methods and systems for robotic surface coverage

A robot, comprising:

• an actuator configured to move the robot in a workspace;
• a sensor configured to sense the workspace;
• one or more processors including at least one processor configured to obtain data from the sensor and control the actuator;
• and
• memory communicatively coupled with at least one of the one or more processors and storing instructions that when executed by the at least one of the one or more processors effectuate operations comprising:
• obtaining, with the one or more processors, a map of the workspace, the map quantizing the workspace into a plurality of cells, each cell corresponding to an area of the workspace;
• segmenting, with the one or more processors, the workspace into a plurality of zones, each zone having a subset of the plurality of cells;
• determining, with the one or more processors, a sequence of the zones among a plurality of candidate sequences based on an effect of the sequence on a cost of a cost function that is based on travel distance of the robot through the sequence;
• and
• causing, with the one or more processors, the robot to traverse the zones in the determined sequence.