In one embodiment, a virtual boundary is provided in the global coordinates of the area map and is converted into a plurality of line segments corresponding to a plurality of partial maps. In one embodiment, a physical boundary indicator is used during a training/mapping run, with the location added to the area map and the physical boundary indicator later moved. In one embodiment, the virtual boundary changes over time to change cleaning areas, act as a gate, change associated cleaning mode, etc. In one embodiment, virtual areas with boundaries are selected by a user.