A method implemented by one or more processors, the method comprising: determining, using one or more sensors, presence information and actor type information about an actor present within a first area (111 to 157), of an environment that is divided into a plurality of areas that comprise the first area; determining a particular safety classification of the first area based on at least the presence information and the actor type information, wherein the particular safety classification comprises: a first safety classification if the actor type information indicates the actor present within the first area is of a predetermined first type, or a second safety classification if the actor type information indicates the actor present within the first area is of a predetermined second type, wherein the second safety classification is more restrictive than the first safety classification; determining trajectory data related to a trajectory of the actor; determining, using the trajectory data and the particular safety classification, an additional particular safety classification for a second area, of the areas of the environment, that is adjacent to the first area, wherein the additional particular safety classification is determined for the second area based on the second area being adjacent to the first area and is determined using the trajectory data based on the trajectory data being related to the trajectory of the actor that is within the first area; and providing data to a robotic device to cause the robotic device to operate in the first area based on the particular safety classification and to operate in the second area based on the additional particular safety classification. determining, using one or more sensors, presence information and actor type information about an actor present within a first area (111 to 157), of an environment that is divided into a plurality of areas that comprise the first area; determining a particular safety classification of the first area based on at least the presence information and the actor type information, wherein the particular safety classification comprises: a first safety classification if the actor type information indicates the actor present within the first area is of a predetermined first type, or a second safety classification if the actor type information indicates the actor present within the first area is of a predetermined second type, wherein the second safety classification is more restrictive than the first safety classification; a first safety classification if the actor type information indicates the actor present within the first area is of a predetermined first type, or a second safety classification if the actor type information indicates the actor present within the first area is of a predetermined second type, wherein the second safety classification is more restrictive than the first safety classification; determining trajectory data related to a trajectory of the actor; determining, using the trajectory data and the particular safety classification, an additional particular safety classification for a second area, of the areas of the environment, that is adjacent to the first area, wherein the additional particular safety classification is determined for the second area based on the second area being adjacent to the first area and is determined using the trajectory data based on the trajectory data being related to the trajectory of the actor that is within the first area; and providing data to a robotic device to cause the robotic device to operate in the first area based on the particular safety classification and to operate in the second area based on the additional particular safety classification. <EOS>