Method for travelling along a predefined arrangement of paths (K1 - K2, K2 - K3, K1 - K5), which are connected to one another in nodes (K1,...,K10), with a mobile, in particular autonomous, robot , wherein the robot changes (S60) from an initial route, which contains all paths not yet travelled along, to a, different, substitute route, which comprises a loop route, which takes at least one path again after taking this path and at least one further path, and an adjoining remaining route, which contains all paths then not yet travelled along, if a value of a quality function for the substitute route is less than a value of this quality function for the initial route, characterized in that the quality function is dependent on a first effort, a second effort and a variable weighting of the first and second values in relation to one another; wherein the first effort is the lesser of a minimum effort for a loop route, which takes at least one path again after taking this path and at least one further path, and a minimum effort for a target route, which contains all paths not yet travelled along; and the second effort is a minimum effort for a remaining route, which contains all paths not yet travelled along after this loop route; and the variable weighting provides the second effort with a lower weighting for a first localization uncertainty of the robot than for a lesser second localization uncertainty of the robot, in particular provides it with the maximum weighting, in particular the same as the first effort, for a minimum localization uncertainty of the robot and/or provides it with the minimum weighting, in particular hides it, for a maximum localization uncertainty of the robot. changes (S60) from an initial route, which contains all paths not yet travelled along, to a, different, substitute route, which comprises a loop route, which takes at least one path again after taking this path and at least one further path, and an adjoining remaining route, which contains all paths then not yet travelled along, if a value of a quality function for the substitute route is less than a value of this quality function for the initial route, characterized in that the quality function is dependent on a first effort, a second effort and a variable weighting of the first and second values in relation to one another; wherein the first effort is the lesser of a minimum effort for a loop route, which takes at least one path again after taking this path and at least one further path, and a minimum effort for a target route, which contains all paths not yet travelled along; and the second effort is a minimum effort for a remaining route, which contains all paths not yet travelled along after this loop route; and the variable weighting provides the second effort with a lower weighting for a first localization uncertainty of the robot than for a lesser second localization uncertainty of the robot, in particular provides it with the maximum weighting, in particular the same as the first effort, for a minimum localization uncertainty of the robot and/or provides it with the minimum weighting, in particular hides it, for a maximum localization uncertainty of the robot. <EOS>