A computing device , comprising: a processor; and a memory coupled to the processor, the memory comprising a non-transitory computer-readable storage medium storing computer-readable program code therein that is executable by the processor to perform operations comprising: generating a segmentation map (822; 1702a-b; 1802a-b; 2002a-k; 2110; 2302; 2502; 2822; 2902) defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface; identifying sub-regions of at least one of the respective regions as non-clutter (914; 2904; 2904a-d) and clutter areas (2824; 2906; 2906a-b), wherein clutter refers to a concentration of obstacles occupying a region of space and preventing systematic, deterministic coverage of the region; computing a coverage pattern based on identification of the sub-regions, the coverage pattern indicating a sequence for navigation of the non-clutter and clutter areas; and providing the coverage pattern to the mobile robot, wherein, responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. a processor; and a memory coupled to the processor, the memory comprising a non-transitory computer-readable storage medium storing computer-readable program code therein that is executable by the processor to perform operations comprising: generating a segmentation map (822; 1702a-b; 1802a-b; 2002a-k; 2110; 2302; 2502; 2822; 2902) defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface; identifying sub-regions of at least one of the respective regions as non-clutter (914; 2904; 2904a-d) and clutter areas (2824; 2906; 2906a-b), wherein clutter refers to a concentration of obstacles occupying a region of space and preventing systematic, deterministic coverage of the region; computing a coverage pattern based on identification of the sub-regions, the coverage pattern indicating a sequence for navigation of the non-clutter and clutter areas; and providing the coverage pattern to the mobile robot, wherein, responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. generating a segmentation map (822; 1702a-b; 1802a-b; 2002a-k; 2110; 2302; 2502; 2822; 2902) defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface; identifying sub-regions of at least one of the respective regions as non-clutter (914; 2904; 2904a-d) and clutter areas (2824; 2906; 2906a-b), wherein clutter refers to a concentration of obstacles occupying a region of space and preventing systematic, deterministic coverage of the region; computing a coverage pattern based on identification of the sub-regions, the coverage pattern indicating a sequence for navigation of the non-clutter and clutter areas; and providing the coverage pattern to the mobile robot, wherein, responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. <EOS>