Method for constructing a map while performing work

A tangible, non-transitory, machine-readable medium storing instructions that when executed by a processor of a robotic device effectuates operations comprising:

• capturing, by at least one sensor of a plurality of sensors coupled to the robotic device, first data used in indicating a position of the robotic device in relation to an environment and objects byin the environment;
• capturing, by at least one sensor of the plurality of sensors coupled to the robotic device, second data indicative of movement of the robotic device;
• recognizing, by the processor of the robotic device, a first area of the environment based on at least one of:
• a first part of the first data and a first part of the second data;
• generating, by the processor of the robotic device, a first movement path covering at least part of the first recognized area of the environment;
• actuating, by the processor of the robotic device, the robotic device to move along the first movement path;
• and
• generating, by the processor of the robotic device, a map of the environment based on at least one of:
• the first data and the second data;
• wherein:
• actuating the robotic device to move along the first movement path comprises at least a repetitive iteration of:
• actuating, by the processor of the robotic device, the robotic device to traverse a first linear segment;
• actuating, by the processor of the robotic device, the robotic device to rotate 180 degrees in a first rotation comprising traversing a first distance in a direction perpendicular to the first linear segment after starting the first rotation and before finishing the first rotation;
• actuating, by the processor of the robotic device, the robotic device to traverse a second linear segment parallel to the first linear segment;
• and actuating, by the processor of the robotic device, the robotic device to rotate 180 degrees in a second rotation comprising traversing a second distance in a direction perpendicular to the second linear segment after starting the second rotation and before finishing the second rotation;
• the robotic device is paired with an application of a user device configured to:
• display the map of the environment divided into subareas;
• and
• receive at least one user input designating a merger of two subareas within the map;
• a division of two subareas within the map;
• an addition, a modification, or a deletion of a name of a subarea within the map;
• and a schedule for the robotic device to perform work within at least one subarea;
• and
• the processor of the robotic device or the application of the user device divides the map into subareas.