Abstract: A robot cleaning system includes a mobile cleaning robot, a robot docking station, and a camera. The mobile cleaning robot includes a drive operable to move the mobile cleaning robot across a floor surface, a cleaning assembly configured to clean the floor surface, and a debris bin. The robot docking station includes a housing and a platform defined in the housing, the platform configured to receive the mobile cleaning robot in a docking position. The camera is configured to capture imagery of an underside of the mobile cleaning robot. In some implementations, the camera is disposed on or within the mobile cleaning robot. In some implementations, the camera is disposed in the platform of the robot docking station.