An autonomous cleaning robot comprising: a forward portion having a forward surface extending along a forward plane, a first side surface (150; 152) extending along a first side plane, and a second side surface (152; 150) extending along a second side plane, the forward plane being perpendicular to the first side plane and the second side plane; a drive system configured to support the cleaning robot on a floor surface; a cleaning inlet positioned forward of a center (162; 164) of the cleaning robot and along the forward portion of the cleaning robot between the first side surface and the second side surface, the cleaning inlet configured to collect debris from the floor surface into the cleaning robot; and a controller configured to execute instructions to perform one or more operations comprising: operating the drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with the first side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the first side surface of the cleaning robot faces a second obstacle surface, the second obstacle surface adjacent to the first obstacle surface and angled relative to the first obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface, characterized in that: operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface comprises: operating the drive system to turn the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction. a forward portion having a forward surface extending along a forward plane, a first side surface (150; 152) extending along a first side plane, and a second side surface (152; 150) extending along a second side plane, the forward plane being perpendicular to the first side plane and the second side plane; a drive system configured to support the cleaning robot on a floor surface; a cleaning inlet positioned forward of a center (162; 164) of the cleaning robot and along the forward portion of the cleaning robot between the first side surface and the second side surface, the cleaning inlet configured to collect debris from the floor surface into the cleaning robot; and a controller configured to execute instructions to perform one or more operations comprising: operating the drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with the first side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the first side surface of the cleaning robot faces a second obstacle surface, the second obstacle surface adjacent to the first obstacle surface and angled relative to the first obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface, characterized in that: operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface comprises: operating the drive system to turn the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction. operating the drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with the first side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the first side surface of the cleaning robot faces a second obstacle surface, the second obstacle surface adjacent to the first obstacle surface and angled relative to the first obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface, characterized in that: operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface comprises: operating the drive system to turn the cleaning robot away from the second obstacle surface and move the cleaning robot in the forward drive direction such that the forward drive direction of the cleaning robot is angled relative to the second obstacle surface and such that the first side surface of the cleaning robot moves away from the second obstacle surface as the cleaning robot moves in the forward drive direction.