1. A method of generating a map using mapping parameters acquired by a mobile robotic system in an environment, the method comprising: for a given local grid in a plurality of local grids: mapping by the mobile robotic system local parameter data to a corresponding grid, wherein the corresponding grid includes a two dimensional Cartesian representation depicting: locations of obstacles detected by the mobile robotic system within the environment; spaces traversed by the mobile robotic system within the environment; and merging by the mobile robotic system parameter data from the plurality of local grids into one or more spatial summaries in response to one or more of: elapsed time, space covered by the mobile robotic system or area mapped by the mobile robotic system, a grid memory limitation, or total number of grids or anchor nodes.