Patent ID: 11886194
Assignee: AI INCORPORATED
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 15:
16. The surface cleaning service system of claim 14, wherein the operations further comprise:
obtaining a map of a physical layout of an environment of the respective robotic surface cleaning device, the map including boundaries and obstacle perimeters detected using a plurality of the one or more sensors;
maneuvering, during a cleaning or cleaning and mapping session, the respective robotic surface cleaning device to a first location and orientation of the environment that positions the respective robotic surface cleaning device to sense a part of the physical layout of the environment at a second location of the environment;
sensing, with at least some of the one or more sensors, while the respective robotic surface cleaning device is at the first location, the part of the physical layout of the environment at the second location;
updating, during the session, based on the sensing, the map of the physical layout of the environment;
determining, during the session, based on the updated map, with one or more processors, at least a part of a coverage path of the respective robotic surface cleaning device through the environment, wherein:
the environment is represented by a plurality of regions in a region graph;
an instance of a coverage pattern is determined for a first region among the plurality of regions based on a plurality of dimensions of the first region; and
determining the coverage pattern comprises determining a first region-specific orientation based on the plurality of dimensions of the first region; and

maneuvering the respective robotic surface cleaning device along at least a part of the coverage path.