System for assessing an autonomously determined map

An autonomous mobile device (AMD) uses sensors to explore a physical space and determine a map indicating the locations of obstacles. As data is later acquired, the map may be updated, resulting in changes to previously mapped obstacle positions. Navigability tests determine if a path can be found between a current location and a previously visited location. A failure to find a path may result in exploration of an area that includes the previously visited location. Submaps may be produced by the AMD as it moves through the physical space. An accuracy score of a selected submap is determined by comparing the selected submap with a partial global map created using submaps other than the selected submap. If the accuracy score is less than a threshold value, the selected submap may be discarded and an area in the physical space associated with the selected submap may be re-explored.