A system comprising: a first mobile cleaning robot (102; 102a; 202a) comprising: a local storage device configured to store a persistent map of an environment: at least one sensor configured to sense the environment; and a control module configured to: control the first mobile cleaning robot to navigate in the environment using the persistent map and sensing data provided by the at least one sensor, and coordinate with the second mobile cleaning robot to perform cleaning tasks, wherein the first mobile cleaning robot is configured to perform a first set of cleaning tasks; the system further comprising: the second mobile cleaning robot configured to navigate in the environment and perform a second set of cleaning tasks, wherein the first mobile cleaning robot and the second mobile cleaning robot (102; 102b; 202b) are configured to share the persistent map for navigation, and coordinate with each other when performing the first set of cleaning tasks and the second set of cleaning tasks, wherein the first mobile cleaning robot has a vacuum capability, and the second mobile cleaning robot has mopping capability, wherein the first mobile cleaning robot is configured to flag an area where the first mobile cleaning robot has detected dirt or a stain and wherein the second mobile cleaning robot is configured to perform a focus scrubbing at the area where the first mobile cleaning robot has detected the dirt or the stain. a local storage device configured to store a persistent map of an environment: at least one sensor configured to sense the environment; and a control module configured to: control the first mobile cleaning robot to navigate in the environment using the persistent map and sensing data provided by the at least one sensor, and coordinate with the second mobile cleaning robot to perform cleaning tasks, wherein the first mobile cleaning robot is configured to perform a first set of cleaning tasks; the system further comprising: the second mobile cleaning robot configured to navigate in the environment and perform a second set of cleaning tasks, wherein the first mobile cleaning robot and the second mobile cleaning robot (102; 102b; 202b) are configured to share the persistent map for navigation, and coordinate with each other when performing the first set of cleaning tasks and the second set of cleaning tasks, control the first mobile cleaning robot to navigate in the environment using the persistent map and sensing data provided by the at least one sensor, and coordinate with the second mobile cleaning robot to perform cleaning tasks, wherein the first mobile cleaning robot is configured to perform a first set of cleaning tasks; the system further comprising: the second mobile cleaning robot configured to navigate in the environment and perform a second set of cleaning tasks, wherein the first mobile cleaning robot and the second mobile cleaning robot (102; 102b; 202b) are configured to share the persistent map for navigation, and coordinate with each other when performing the first set of cleaning tasks and the second set of cleaning tasks, the second mobile cleaning robot configured to navigate in the environment and perform a second set of cleaning tasks, wherein the first mobile cleaning robot and the second mobile cleaning robot (102; 102b; 202b) are configured to share the persistent map for navigation, and coordinate with each other when performing the first set of cleaning tasks and the second set of cleaning tasks, wherein the first mobile cleaning robot has a vacuum capability, and the second mobile cleaning robot has mopping capability, wherein the first mobile cleaning robot is configured to flag an area where the first mobile cleaning robot has detected dirt or a stain and wherein the second mobile cleaning robot is configured to perform a focus scrubbing at the area where the first mobile cleaning robot has detected the dirt or the stain. <EOS>