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This situation necessitates continuous research in the field of floor\u2010cleaning robots. However, most of these efforts focus on improving the robots\u2019 perception capabilities by incorporating additional sensors. Nevertheless, incorporating more sensors is an expensive solution for most cleaning robots. Alternatively, in this research, the feasibility of introducing a safe path on a predefined hazard map is explored. The proposed method aims to trade\u2010off between area coverage and the safety of the cleaning robot. Herein, the failure mode and effect analysis (FMEA) method is introduced as a tool to classify the hazards and implement a safety\u2010ensured coverage path\u2010planning process. In this approach, the risk factor defined for a point in the environment serves as the key parameter to assess the safety of the algorithm's suggested path. To validate and evaluate the proposed method, this article utilizes the hTetro mobile robot. 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