A method for operating a mobile robotic device, including: selecting, by the processor, actions of the mobile robotic device as the mobile robotic device navigates through a workspace, wherein: at least a portion of the actions transitions the mobile robotic device from a current state to a next state; and each state of the mobile robotic device comprises at least a location of the mobile robotic device within the workspace; actuating, by the processor, the mobile robotic device to execute the actions; detecting, by the processor, whether a collision or a stuck event is experienced by the mobile robotic device; and associating, by the processor, a collision or a stuck event to a location within the workspace in which the collision or the stuck event occurred.