@Wayne-TP The RV30 is never going to get underneath the sofa - I don't expect it to. I do want it to realise when the sofa is moved so it can clean underneath it. (without a complete remap every time...

Have set up working OK. However when it mapped the room it has blacked out areas on the map. (Where the Sofas are etc.) - I cannot get it to automatically clean this area if I move the furniture out...