Patent ID: 8892251

Claim:
A mobile robot configured to clean a space, the robot comprising: a cleaning assembly; a module configured to cause, at least in part, the robot to follow a cleaning trajectory comprising a sequence of paths repeated a plurality times; and a drive system configured to move the robot in accordance with the cleaning trajectory; wherein said sequence of paths that the module is configured to cause the robot to follow comprises: a first path, wherein the robot is moved forward a first distance and to the left; a second path, wherein the robot is moved backward and a third distance to the right; a third path, wherein the robot is moved forward a second distance and to the right; and a fourth path, wherein the robot is moved backward and a fourth distance to the left; wherein the first path and third path are characterized by a first distance forward, and the second path and fourth path are characterized by a second distance backward, wherein the first distance is greater than the second distance; wherein the third distance is substantially equal to the fourth distance.