Looking at the vacuum, what it does first without a map is start tracing nearby walls. It allso seems to start looking at a square that is roughly 20ft x 20ft. This makes sense as it’s trying to get a good feel for the immediate area where it’s charger is before it can go further so it doesn’t get lost. However it leads to a very inefficient first pass where it cuts rooms sometimes into 4 separate passes because the square covered just a quarter of the room.
I was thinking it would be more efficient to build the map first. It can probably go faster and wouldn’t even have to turn on the brushes. just explore the area and identify the whole house. Then it can break up the house into rooms as it does and start tracing those and cleaning them one by one.