When an object is spawned, the area it lands on can have previously been marked as FREE. This means it can be used for frontier calculation. This shouldn't happen, but only when the full object area has been encapsulated by OCCUPIED area.
Of course, it will sort itself out later, due to expiring pheromones. BUT, this doesn't count for areas which are closed off due to the gap being too small for the robot. (So the robot can sense through the gap)
When an object is spawned, the area it lands on can have previously been marked as FREE. This means it can be used for frontier calculation. This shouldn't happen, but only when the full object area has been encapsulated by OCCUPIED area.
Of course, it will sort itself out later, due to expiring pheromones. BUT, this doesn't count for areas which are closed off due to the gap being too small for the robot. (So the robot can sense through the gap)