A mobile robot comprising: an input configured to access map data corresponding to an area in which the mobile robot is located; a map making engine configured to generate a map including: (a) an initial keepout map layer corresponding to the accessed map data, the initial keepout map layer representing at least one free space region that the mobile robot is permitted to enter and at least one keepout region that the mobile robot is not permitted to enter; and (b) an initial historical dust data map layer representing high dust regions of the area that have previously accumulated dust requiring higher levels of vacuuming than low dust regions; a navigation engine configured to navigate the mobile robot during the performance of one or more tasks within the area such that the mobile robot does not enter a region identified as a keepout region within the initial keepout map layer and the mobile robot applies additional vacuuming to the high dust regions identified in the initial historical dust data map layer; one or more sensors configured to produce sensor data indicating locations of detected objects in the area, locations of one or more regions within the area through which the mobile robot is unable to navigate, and updated locations of high dust regions; and a map modification engine configured to generate an updated keepout map layer based on the initial keepout map and the sensor data produced by the one or more sensors and to generate an updated historical dust data map layer based on the initial historical dust data map layer and the sensor data. an input configured to access map data corresponding to an area in which the mobile robot is located; a map making engine configured to generate a map including: (a) an initial keepout map layer corresponding to the accessed map data, the initial keepout map layer representing at least one free space region that the mobile robot is permitted to enter and at least one keepout region that the mobile robot is not permitted to enter; and (b) an initial historical dust data map layer representing high dust regions of the area that have previously accumulated dust requiring higher levels of vacuuming than low dust regions; (a) an initial keepout map layer corresponding to the accessed map data, the initial keepout map layer representing at least one free space region that the mobile robot is permitted to enter and at least one keepout region that the mobile robot is not permitted to enter; and (b) an initial historical dust data map layer representing high dust regions of the area that have previously accumulated dust requiring higher levels of vacuuming than low dust regions; a navigation engine configured to navigate the mobile robot during the performance of one or more tasks within the area such that the mobile robot does not enter a region identified as a keepout region within the initial keepout map layer and the mobile robot applies additional vacuuming to the high dust regions identified in the initial historical dust data map layer; one or more sensors configured to produce sensor data indicating locations of detected objects in the area, locations of one or more regions within the area through which the mobile robot is unable to navigate, and updated locations of high dust regions; and a map modification engine configured to generate an updated keepout map layer based on the initial keepout map and the sensor data produced by the one or more sensors and to generate an updated historical dust data map layer based on the initial historical dust data map layer and the sensor data. <EOS>