A method for constraining robot autonomy language includes receiving a navigation command (44) to navigate a robot (10) to a mission destination (46) within an environment (8) of the robot and generating a route specification (200) for navigating the robot from a current location (43) in the environment to the mission destination in the environment. The route specification includes a series of route segments (210). Each route segment in the series of route segments includes a goal region (220) for the corresponding route segment and a constraint region (230) encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path (310) for the robot to follow while traversing the corresponding route segment.
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