If I was a Yarbie, I would not zig and zag across the middle part of a fairly narrow area. Instead, I would increase my overlap on the long direction. My area is a small patio and the total width is about 3 to 4 Yarbies. But my software wants to send him around the outside path first and then come back and do the interior. But since my patio is narrow, Yarbie spends several minutes doing short little runs across the short width with lots of turning. And a dozen turns seem slower than just executing a few straight lines with significant overlap. My 2c.
