How is this plan supposed to finish?
Grab your popcorn…
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Just my 2 cents, but it almost looks like a set of parallel dead-ends would be more efficient.
This is the state we’re in. Bonus points if that’s a nice flower bed, a newly planted small tree, or a mulched where it gets stuck. I’ve had it try to cross 15m out of the boundary because of the map early on.
It may help to edit the map and trim off ugly/hard edges.
Yarbo should treat these thight turns differently in its planning. It will spend hours turning and destroying the grass with a plan like this.
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I also do have some narrow areas to mow. Somehow Tarbi can only manage to stay inside the perimeters when I have placed no-go zones on each side. Before that Yarbo liked to go joyriding maximum about 10 meters out of mowing zone before realizing that it is out of bounds.
In my case i think it is not related to GPS issu as if it would be it would also wander inside the no-go zones in the same places as before I had drawn the no-go zones.
Do fix this issue Yarbo also likes to have the narrow places mapped as a seperate areas. You can then set the mowing direction horizontal from the longest border. Also set the mowing direction adjustment % to 0. That way it always mows that area in the same way. As Yarbo is not following 100% same tracks the it in my case has not left visible tracks on the grass doing the one area always in the same way.
Pathways or deadens also should work pretty good in this case.
I have a Support ticket open on this type of thing. Although how yours finishes I have absolutely no idea. Mine mowed as it shows on the map, from what I could determine from video from a security camera. 
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That looks like a path planning bug. Hopefully you opened a ticket for analysis.
I’m wondering if this backed and looped over boundary might be a factor. Maybe try editing the map to get rid of that. It’s been known to cause planning issues like this.
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paved driveway… so no flowers or trees were harmed in the show. 
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I did not open a ticket as I’m still awaiting the new firmware. No need for the Yarbo team to looking for issues in something that is already (hopefully) fixed.
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Wouldn’t the backed and looped over boundary only factor into the perimeter? I guess it may have some bearing on the interior.
Typically, but stranger things… It definitely causes some weirdness and has caused out of boundary error messages when executing the plan (because the path planning lines go out of bounds).
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I wonder if Yarbo has “looked at” 3D printer slicers. That is what Yarbo is doing, building the “tool path” for the first layer.
Next module idea! It prints its own spare parts!
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It can start with cutting disks.
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I guess if we want the yard mowed in tiny triangles. 
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When it mows a no go zone boundary that was drawn by user/yarbo, does it always start where your path started?
It likes to go Clockwise around the no go zone, but insists on driving to the side where it has to make a 180 (forgets to do the easy turn) to start the path. Holding off on any mapping behavior tickets until i finally get the update and still see the behavior.
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Yes I believe it does.
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