1. A computing device, comprising:a processor; and
a memory coupled to the processor, the memory comprising a non-transitory computer-readable storage medium storing computer-readable program code therein that is executable by the processor to perform operations comprising:
generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, wherein the segmentation map comprises simplified boundaries relative to actual boundaries indicated by the occupancy data;
identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas;
modifying the segmentation map comprising the simplified boundaries to indicate the clutter areas responsive to identification thereof;
computing a coverage pattern based on identification of the sub-regions, the coverage pattern indicating a sequence for navigation of the non-clutter and clutter areas;
providing the coverage pattern to the mobile robot,
wherein, responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern.