A robotic system is presented that includes a surface inspection system that receives a plurality of sampled points within a region of a worksurface. The system also includes a robotic arm, coupled to a surface processing tool, the robotic repair arm being configured to cause the surface processing tool to engage the region of the worksurface. The system also includes a process mapping system configured to, based on the plurality of sampled points: approximate a surface topography of the region of the worksurface, modify a trajectory for the robotic arm, based on the approximated surface topography, and generate a control signal for the robotic arm that includes a path for the robotic arm into the region.