A mobile robot, comprising: a drive system configured to move the mobile robot about an environment; a sensor circuit configured to sense occupancy information in the environment; a memory; a controller circuit configured to: generate, and store in the memory, a first semantic map corresponding to a first mission of the mobile robot in the environment using first occupancy information and first semantic annotations, the first semantic annotations representing spatial and contextual information of objects in the environment corresponding to the first mission; and transfer the first semantic annotations from the first semantic map to a second semantic map, the second semantic map corresponding to a second mission of the mobile robot in the environment subsequent to the first mission; characterised by the controller circuit further being configured to: generate the second semantic map using second occupancy information and the second semantic annotations, the second semantic annotations representing spatial and contextual information of objects in the environment and being generated using the transferred first semantic annotations; and determine whether or not to update the first semantic map based on a comparison between the first and the second semantic maps; a communication system configured to transmit information about one or more of the first or second semantic map to a user interface, and to receive user feedback on the first or the second semantic map. a drive system configured to move the mobile robot about an environment; a sensor circuit configured to sense occupancy information in the environment; a memory; a controller circuit configured to: generate, and store in the memory, a first semantic map corresponding to a first mission of the mobile robot in the environment using first occupancy information and first semantic annotations, the first semantic annotations representing spatial and contextual information of objects in the environment corresponding to the first mission; and transfer the first semantic annotations from the first semantic map to a second semantic map, the second semantic map corresponding to a second mission of the mobile robot in the environment subsequent to the first mission; characterised by the controller circuit further being configured to: generate the second semantic map using second occupancy information and the second semantic annotations, the second semantic annotations representing spatial and contextual information of objects in the environment and being generated using the transferred first semantic annotations; and determine whether or not to update the first semantic map based on a comparison between the first and the second semantic maps; generate, and store in the memory, a first semantic map corresponding to a first mission of the mobile robot in the environment using first occupancy information and first semantic annotations, the first semantic annotations representing spatial and contextual information of objects in the environment corresponding to the first mission; and transfer the first semantic annotations from the first semantic map to a second semantic map, the second semantic map corresponding to a second mission of the mobile robot in the environment subsequent to the first mission; characterised by the controller circuit further being configured to: generate the second semantic map using second occupancy information and the second semantic annotations, the second semantic annotations representing spatial and contextual information of objects in the environment and being generated using the transferred first semantic annotations; and determine whether or not to update the first semantic map based on a comparison between the first and the second semantic maps; generate the second semantic map using second occupancy information and the second semantic annotations, the second semantic annotations representing spatial and contextual information of objects in the environment and being generated using the transferred first semantic annotations; and determine whether or not to update the first semantic map based on a comparison between the first and the second semantic maps; a communication system configured to transmit information about one or more of the first or second semantic map to a user interface, and to receive user feedback on the first or the second semantic map.