Before the worry starts as to the zumo will drive itself back independently - first there needs to be a data-store of the locations visited in reverse order (as this is the route the robot will have to take back).
Once this is done, removing the rooms/side-corridors with nobody scanned in them will help build the optimised return route.
Before the worry starts as to the zumo will drive itself back independently - first there needs to be a data-store of the locations visited in reverse order (as this is the route the robot will have to take back).
Once this is done, removing the rooms/side-corridors with nobody scanned in them will help build the optimised return route.