Method to minimize collisions of mobile robotic device

A mobile robotic device, comprising at least:

• a plurality of sensors;
• a processor;
• and
• a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations comprising:
• selecting, by the processor, actions of the mobile robotic device as the mobile robotic device navigates through a workspace, wherein:
• at least a portion of the actions transitions the mobile robotic device from a current state to a next state;
• and
• each state of the mobile robotic device comprises at least a location of the mobile robotic device within the workspace;
• actuating, by the processor, the mobile robotic device to execute the actions;
• detecting, by the processor, whether a collision or a stuck event is experienced by the mobile robotic device;
• and
• associating, by the processor, a collision or a stuck event to a location within the workspace in which the collision or the stuck event occurred.