A method for selectively deploying a robot to perform a task, the method comprising: storing a plurality of map data records relating to an area of an environment; determining, by one or more processors and based on the map data records, a measure of interest in mapping the area of the environment, wherein determining the measure of interest comprises: determining a rate of change of the area, wherein a greater rate of change of the area corresponds to a greater measure of interest in mapping the area; determining a measure of uncertainty about the area, wherein a greater measure of uncertainty corresponds to a greater measure of interest in mapping the area; determining how recently the area has been mapped, wherein a greater amount of time since the area has been mapped corresponds to a greater measure of interest in mapping the area; or determining a measure of data connectivity in the area, wherein the measure of data connectivity is inversely related to the measure of interest in mapping the area; the method further comprising, determining, by one or more of the processors, a first path that is traversable by the robot while performing the task, wherein the first path does not pass through the area of the environment; determining, by one or more of the processors, an added cost associated with the robot traversing a second path that passes through the area of the environment and mapping the area of the environment while performing the task instead of traversing the first path while performing the task; normalizing the added cost and the measure of interest; comparing, by one or more of the processors, the normalized added cost to the normalized measure of interest; and selectively deploying, by one or more of the processors, the robot to traverse the first path while performing the task or to traverse the second path and map the area while performing the task based on the comparing. storing a plurality of map data records relating to an area of an environment; determining, by one or more processors and based on the map data records, a measure of interest in mapping the area of the environment, wherein determining the measure of interest comprises: determining a rate of change of the area, wherein a greater rate of change of the area corresponds to a greater measure of interest in mapping the area; determining a measure of uncertainty about the area, wherein a greater measure of uncertainty corresponds to a greater measure of interest in mapping the area; determining how recently the area has been mapped, wherein a greater amount of time since the area has been mapped corresponds to a greater measure of interest in mapping the area; or determining a measure of data connectivity in the area, wherein the measure of data connectivity is inversely related to the measure of interest in mapping the area; determining a rate of change of the area, wherein a greater rate of change of the area corresponds to a greater measure of interest in mapping the area; determining a measure of uncertainty about the area, wherein a greater measure of uncertainty corresponds to a greater measure of interest in mapping the area; determining how recently the area has been mapped, wherein a greater amount of time since the area has been mapped corresponds to a greater measure of interest in mapping the area; or determining a measure of data connectivity in the area, wherein the measure of data connectivity is inversely related to the measure of interest in mapping the area; the method further comprising, determining, by one or more of the processors, a first path that is traversable by the robot while performing the task, wherein the first path does not pass through the area of the environment; determining, by one or more of the processors, an added cost associated with the robot traversing a second path that passes through the area of the environment and mapping the area of the environment while performing the task instead of traversing the first path while performing the task; normalizing the added cost and the measure of interest; comparing, by one or more of the processors, the normalized added cost to the normalized measure of interest; and selectively deploying, by one or more of the processors, the robot to traverse the first path while performing the task or to traverse the second path and map the area while performing the task based on the comparing.