A method of mapping an operation area by a team of a human and a mobile robot 200 includes the steps of defining a graph representing the area by a human 201, guiding the robot by human along an edge 203, stopping at a vertex in the graph by the team 203, creating a vertex record if stopped at a new vertex 205, localizing the robot and vertices if stopped at an existing vertex 206, creating an edge record if finished a new edge 208, and outputting an area's map including a set of vertex records and a set of edge record by the robot 210. The robot's human-tracking step 203 includes the steps of obtaining a 2-DOF motion command from sensors that detect the human's action and executing a 2-DOF motion based on the motion command.