Abstract: An autonomous surface cleaning apparatus includes a body, a drive system carried by the body and configured to move the autonomous surface cleaning apparatus across a surface, a cleaning assembly disposed at a front of the body and projecting forward beyond a front surface of the body, the cleaning assembly having a generally planar front surface and first and second side surfaces that extend rearward from opposite ends of the front surface. The apparatus further includes a first forward proximity sensor disposed at the front surface of the cleaning assembly adjacent to a first front corner of the cleaning assembly and a second forward proximity sensor disposed at the front surface of the cleaning assembly adjacent to a second front corner of the cleaning assembly. The first and second forward proximity sensors are angled inwardly towards a longitudinal axis of the cleaning assembly.