A method includes receiving sensor data collected by an autonomous mobile robot as the autonomous mobile robot moves about an environment, the sensor data being indicative of sensor events and locations associated with the sensor events. The method includes identifying a subset of the sensor events based on the locations. The method includes providing, to a user computing device, data indicative of a recommended behavior control zone in the environment, the recommended behavior control zone containing a subset of the locations associated with the subset of the sensor events. The method includes defining, in response to a user selection from the user computing device, a behavior control zone such that the autonomous mobile robot initiates a behavior in response to encountering the behavior control zone, the behavior control zone being based on the recommended behavior control zone.