US Patent 11921517 Controlling movement of a robotic cleaning device

A method of controlling movement of a robotic cleaning device over an area to be cleaned. The method includes storing at least one representation of the area over which the robotic cleaning device is to move, receiving an instruction to execute a cleaning program, localizing, in response to the instruction, the robotic cleaning device relative to the stored representation, and moving over the area to be cleaned as stipulated by the cleaning program by taking into account the stored representation.