Speed determination in robotics systems and applications

A method, comprising:

• identifying, using one or more maps of a physical environment, one or more obstacles associated with one or more portions of a path of a mobile robot in the physical environment;
• generating, based at least on the one or more obstacles, one or more speed constraints, each speed constraint specifying a speed limit for a respective portion of the path;
• and
• generating one or more speed change decisions specifying actions to be performed by the mobile robot to cause a speed profile of the mobile robot to satisfy the one or more speed constraints, wherein generating the one or more speed change decisions comprises:
• generating a representation of a path time-space region having a spatial dimension based at least on a length of the path and a time dimension based at least on a time of travel along the path, the path time-space region including a time-space representation of each speed constraint;
• searching the path time-space region for a particular speed profile that does not intersect the time-space representations of the speed constraints;
• and
• generating the one or more speed change decisions based at least on the particular speed profile.