My Roomba finds its own way around, number and goes back home to its charger when it has finished. The doors do need to be wide open, not just ajar. My poor Roomba nudged a door open, went in and vacuumed, then nudged the door shut from inside because the gap wasn't very wide. It couldn't get back to base to recharge and just kept blundering around until it collapsed with exhaustion. I found it when I came home, huddled in a corner looking sad.
The funny thing was, it must have rolled over the switch for the power to the phone and computer (both plugged into an extension on the floor under the desk) because neither of them would work. DS tried to make me believe it was trying to get at the phone like ET and ring home for help (to China, where it was made! I hate to think what my bill would have been)
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. I've been known to drink my cup of tea, feet up, just watching my little wonder machine works its magic.