Response to YAM
Disadvantages: I have a small carpet with an abstraction on a space theme (in the style of the 60s), it’s very dark, under the starry sky, with a bright yellow spot in the center. The first time quite often found it in the center of this spot, although some of the rooms were not cleaned. The robot complainingly asked (in English) to move it from here... Then he understood - it is working sensors to prevent falling from the steps - the size of the yellow spot is slightly larger than the robot and if he managed to enter it entirely, then he thought that around the gap has formed... While it is necessary before leaving this spot to put a hanger - it does not let him get to the spot entirely...