Remote planning and locally adaptive service mapping

A robotic device comprising:

• a propulsion mechanism to move the robotic device;
• at least one sensor for sensing objects in a service area;
• a stored service plan for a service area;
• a navigation system utilizing the at least one sensor and the stored service plan for navigating within the service area;
• and
• a processing facility comprising a processor and a memory, the processing facility storing a set of instructions that, when executed, cause the robotic device to:
• execute the stored service plan, wherein the robotic device navigates through the service area along a planned path determined by the stored service plan;
• sense, with the at least one sensor, an unplanned obstacle in the planned path during the execution of the service plan;
• enter a local planning mode and process a development of an alternate path to navigate around the unplanned obstacle;
• navigate around the unplanned obstacle along the processed alternate path;
• and
• return to the planned path after the robotic device navigates around the unplanned obstacle to complete the service plan.