I have an S7. My suggestion is to add a no-navigation zone. It's a zone that you don't want the root to go through when navigating from one room to another.
I often only mob my kitchen and hallway, and the robot then needs to pass the living room, not clean it. It then takes a sort of shortest, difficult path, under narrow furniture, over cellphone cables etc. I can't really do it with the current no-go zone or invisible walls, because it needs to go there when I'm actually cleaning the living room (and after I've removed the cables).