Is the cleaning efficiency improved with a more optimum pattern if inaccessible areas are blocked on the map that the lidar detected e.g. through windows, tops of stairs, inaccessible areas behind furniture. If yes it is improved then which method is best to use? No-go zones used to block out the entire inaccessible region or an invisible wall to block the hypothetical route to the inaccessible region? Or is either method equally effective?