US Patent 11703857 Map based training and interface for mobile robots

A method of operating an autonomous cleaning robot is described. The method includes initiating a training run of the autonomous cleaning robot and receiving, at a mobile device, location data from the autonomous cleaning robot as the autonomous cleaning robot navigates an area. The method also includes presenting, on a display of the mobile device, a training map depicting portions of the area traversed by the autonomous cleaning robot during the training run and presenting, on the display of the mobile device, an interface configured to allow the training map to be stored or deleted. The method also includes initiating additional training runs to produce additional training maps and presenting a master map generated based on a plurality of stored training maps.