A telepresence robot, comprising: a drive system configured to move the telepresence robot according to drive instructions; a control system in communication with the drive system, the control system configured to generate drive instructions to cause the drive system to move the telepresence robot; an imaging system in communication with the control system; a mapping module in communication with the control system, the mapping module configured to access a map data source, the map data source comprising: a plan view map representative of robot-navigable areas of a robot operating surface; and a plurality of tags, each tag being a data structure comprising: tag coordinates describing the location of the tag relative to the plan view map, tag information comprising a robot action modifier interpretable by the telepresence robot to cause the telepresence robot to execute a predetermined action, and wherein the tag information of each of the plurality of tags corresponds to a different predetermined action; and a tag annotation comprising a graphic or text corresponding to the tag; wherein a user drags-and-drops tags onto a specific location of the plan view map such that the tag annotation is displayed at the specific location of the plan view map; a positioning system in communication with the control system configured to provide positioning information associated with a current position; a tag identification system configured to identify at least one tag having tag coordinates encountered by the telepresence robot along a navigation path when the tag coordinates are within a local perceptual space of the robot; and a communication system configured to facilitate communication between the control system and a remote terminal, and wherein the control system is configured to execute an action based on the tag information of said identified tag to cause the telepresence robot to carry out the predetermined action. a drive system configured to move the telepresence robot according to drive instructions; a control system in communication with the drive system, the control system configured to generate drive instructions to cause the drive system to move the telepresence robot; an imaging system in communication with the control system; a mapping module in communication with the control system, the mapping module configured to access a map data source, the map data source comprising: a plan view map representative of robot-navigable areas of a robot operating surface; and a plurality of tags, each tag being a data structure comprising: tag coordinates describing the location of the tag relative to the plan view map, tag information comprising a robot action modifier interpretable by the telepresence robot to cause the telepresence robot to execute a predetermined action, and wherein the tag information of each of the plurality of tags corresponds to a different predetermined action; and a tag annotation comprising a graphic or text corresponding to the tag; wherein a user drags-and-drops tags onto a specific location of the plan view map such that the tag annotation is displayed at the specific location of the plan view map; a plan view map representative of robot-navigable areas of a robot operating surface; and a plurality of tags, each tag being a data structure comprising: tag coordinates describing the location of the tag relative to the plan view map, tag information comprising a robot action modifier interpretable by the telepresence robot to cause the telepresence robot to execute a predetermined action, and wherein the tag information of each of the plurality of tags corresponds to a different predetermined action; and a tag annotation comprising a graphic or text corresponding to the tag; wherein a user drags-and-drops tags onto a specific location of the plan view map such that the tag annotation is displayed at the specific location of the plan view map; tag coordinates describing the location of the tag relative to the plan view map, tag information comprising a robot action modifier interpretable by the telepresence robot to cause the telepresence robot to execute a predetermined action, and wherein the tag information of each of the plurality of tags corresponds to a different predetermined action; and a tag annotation comprising a graphic or text corresponding to the tag; wherein a user drags-and-drops tags onto a specific location of the plan view map such that the tag annotation is displayed at the specific location of the plan view map; a positioning system in communication with the control system configured to provide positioning information associated with a current position; a tag identification system configured to identify at least one tag having tag coordinates encountered by the telepresence robot along a navigation path when the tag coordinates are within a local perceptual space of the robot; and a communication system configured to facilitate communication between the control system and a remote terminal, and wherein the control system is configured to execute an action based on the tag information of said identified tag to cause the telepresence robot to carry out the predetermined action.