Embodiments are provided that include a method that includes causing a mobile robot to navigate toward a standing test device placed within an environment of the mobile robot. The method also includes receiving, from a proximity sensor on the standing test device, sensor data indicative of proximity of the mobile robot to the standing test device as the mobile robot navigates toward the standing test device. The method further includes determining, based on the sensor data received from the proximity sensor on the standing test device, an approach motion profile followed by the mobile robot in navigating toward the standing device. The method additionally includes providing a control instruction for the mobile robot based on the determined approach motion profile.