An autonomous mobile robot, comprising: a drive system; at least one perceptor for detecting obstructive objects; a controller that is operably connected to both the drive system and the perceptor, said controller being configured to control the drive system in order to move the robot across a floor area in accordance with a floor covering strategy characterised in that it includes: based on a topological map of the floor area, designating a location of a current cell, wherein the term 'current cell' refers to a functional unit of floor area being covered by the robot, and wherein said current cell is spatially bounded by a primary boundary; from an entry point at the primary boundary of said current cell, executing an initial double stroke into the current cell, wherein a 'double stroke' is understood to include both a forward stroke, i.e. a forward movement, and a backward stroke, i.e. a backward movement, of the robot; designating a forking point disposed within said current cell, and from said forking point executing a number of additional, angularly-distributed double strokes ( S2-S7) within the current cell; during execution of the double strokes ( S1-S7) mapping obstructive objects within the current cell onto an obstacle map by means of said at least one perceptor; from said obstacle map determining a secondary boundary associated with the current cell, wherein said secondary boundary encloses at least part of an area of the current cell covered by the executed double strokes ( S1-S7), and distinguishes between secondary boundary portions thereof at which an obstructive object is located, and secondary boundary portions thereof at which no obstructive object is located; and adding the determined secondary boundary of the current cell to the topological map of the floor area. a drive system; at least one perceptor for detecting obstructive objects; a controller that is operably connected to both the drive system and the perceptor, said controller being configured to control the drive system in order to move the robot across a floor area in accordance with a floor covering strategy characterised in that it includes: based on a topological map of the floor area, designating a location of a current cell, wherein the term 'current cell' refers to a functional unit of floor area being covered by the robot, and wherein said current cell is spatially bounded by a primary boundary; from an entry point at the primary boundary of said current cell, executing an initial double stroke into the current cell, wherein a 'double stroke' is understood to include both a forward stroke, i.e. a forward movement, and a backward stroke, i.e. a backward movement, of the robot; designating a forking point disposed within said current cell, and from said forking point executing a number of additional, angularly-distributed double strokes ( S2-S7) within the current cell; during execution of the double strokes ( S1-S7) mapping obstructive objects within the current cell onto an obstacle map by means of said at least one perceptor; from said obstacle map determining a secondary boundary associated with the current cell, wherein said secondary boundary encloses at least part of an area of the current cell covered by the executed double strokes ( S1-S7), and distinguishes between secondary boundary portions thereof at which an obstructive object is located, and secondary boundary portions thereof at which no obstructive object is located; and adding the determined secondary boundary of the current cell to the topological map of the floor area.