Yarbo keeps driving himself into snowbanks and it occurred to me that Safety Buffer is an area-specific setting.
I realized today that it behaves the worst like this when pathing through areas to get to other areas, or to the charging pad. Maybe it’s not respecting the safety buffer when pathing through areas?
Can anyone confirm? Is this a safety feature request?
I also caught Yarbo pathing through my forest last night using the Slope mode beta to get to another section of the same area 
It may not be, but I would hope that it would respect the area settings that it traverses through.
Hi there, thanks for sharing this. Could you please provide a bit more detail about the issue? If possible, screenshots of your map would be very helpful so we can better understand your setup.
The safety buffer is configured on a per-area basis. Regarding Yarbo crossing the forest, we’ll need more information to further analyze what’s happening there.
You should re-post that video/link here, it was awesome even though it was an oops😅!
https://share.icloud.com/photos/015ucINJBvGiLAx20-BLVh1nw
One of the things that really makes a difference is how incredibly well lit up Yarbo is. You can’t miss him. I get neighbours pulling over all the time now, last night a woman from down the road with her two kids in the back (oh new feature request, googly eyes, the kids thought googly eyes would totally complete him… maybe time to light up the 3d printer). We’ve become known in town as the folks in the log home with the robot.
This is an oops, but with all his lights buried in the snow, it looks remarkably cool
I don’t have a real screenshot but this approximates the path it planned and was trying to take in my “offroading” video.
I’ve only seen that glitch once so far.
Two other issues I come across regularly are Yarbo losing GPS (yarbo is 5ft out of bounds kind of errors, where according to the map he’s totally in the area, but in reality he’s dug himself into a snowbank) and the issue I describe above.
When pathing between areas, he gets right up against the edges as he tries to apex through my curvy map on his way to places. Again I don’t have pics, but I can see the tracks he made pathing the area boundary to clear it, and he drives outside them - and occasionally with track slippage on my challenging / steep / bumpy driveway (12-15º grade in places) he ends up having drifted from his intended path. You can tell he’s working to correct his actual position against his intended position, but when the plow edge hits the snowbank edge, the drag turns him right deeper into it.
I’ve had that happen a couple of times too. You described it well.
In my case, Yarbo is trying to clear the initial perimeter of the driveway, and the right side of the plow starts to dig into uncleared snow in the grass adjacent to the driveway. That causes Yarbo to pivot towards the grass even more. It continues driving and you can see that the right track is moving faster than the left track as Yarbo tries to adjust for the deviation, but by this time it cannot turn. It just keeps going in a straight line further and further into the grass until it gets stuck.
Thanks for adding the details.
Regarding the issue where Yarbo goes out of bounds, this behavior is not normal and may require further investigation by our support team to determine the root cause. Since the incident occurred a couple of days ago, we may no longer be able to retrieve the relevant logs.
If you observe this behavior again, please feel free to submit a support ticket, and we’ll be happy to look into it.
