1. A method comprising: receiving, at a computing device, sensor data from an autonomous mobile robot operating in a work environment; updating, using the computing device, an occupancy map of the work environment with location occupancy probabilities based on the received sensor data; determining, using the computing device, a localization quality of the autonomous mobile robot; and when the localization quality does not satisfy a threshold localization quality, executing, using the computing device, a wall-following behavior that causes the autonomous mobile robot to maneuver toward a wall in the work environment and drive adjacent to the wall until the localization quality satisfies the threshold localization quality.