Through my testing, it’s clear that the blower planning algorithms don’t factor in the fact that the blower discharge is on the side and any leaves directly under the Yarbo will be missed. Planning seems to be the same as mowing or snowblowing, meaning that it thinks if Yarbo goes over an area then it means it will be cleared.
Take a look at this mapped plan and the end result. The two paths down the middle are completely missed.
