A method includes: capturing, using a sensor of a mobile robot, sensor data representing a physical environment of the mobile robot; detecting, from the sensor data, an obstacle in the physical environment; responsive to detecting the obstacle, determining from the sensor data whether the obstacle exhibits a predetermined attribute; assigning a first operational state or a second operational state to the obstacle, according to the determination; selecting a navigational constraint based on the assigned operational state; and controlling a locomotive assembly of the mobile robot to navigate the physical environment based on the selected navigational constraint.