US Patent 11480431 Lighting adaptive navigation

Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for lighting adaptive navigation. In some implementations, map data associated with a property is received. Sensor data is obtained. Based on the map data and the sensor data, a lighting scenario is determined. Based on the lighting scenario, a modification to at least one of the lighting scenario, to a planned navigation path for the robotic device, to settings for a sensor of the robotic device, to a position for a sensor of the robotic device, or to a position of the robotic device is determined. An action is performed by based on the one or more modifications.