Start with the map. Do a fresh mapping run in full daylight and leave the room lights on if you normally clean at night. Launch from the dock and let it finish without picking it up. Drop no go boxes around the TV console, power strip zone, and anywhere slack tends to collect, and give those boxes a little extra padding since maps drift. If it ever seems off, send it home then restart so it reanchors to the dock.
Tidy the cable paths you can't move. Bundle extra length, stick adhesive clips along the back of furniture and the baseboard so cords ride high, and for anything that must cross the floor use a low ramp cover or tape it flat during runs. For the flimsy phone chargers that always get eaten, add a temporary painter's tape skirt on the vacuum's lower front edge so it slides instead of grabbing. Just avoid covering sensors or vents. Works great.
