Main advice - self cleaning/charging base must NOT be near black legged bar stools.  Even with no-go zones surrounding them the robots locating phase gets lost. LIDAR does not handle black color objects.  Once relocated to an area without black objects the robot is fairly good at moving to different zones around large home.  Note; battery life is not suitable for cleaning large homes.  We get around the by only cleaning one room at a time and cleaning zones over a 2 day span.