Scooba Sense: The Scooba has IR-beams to sense both walls and if it is about to go over a cliff. Plan: Scoobas general plan is to go from its staring position and spiral out. If it comes to a wall it will just follow it until it gets back to the next point the spiral would have been. When it encounters an obsitacal it stimply goes around it and then returns to its path. Act: The Scooba follows its plan, the whole time vacuming loose derbis and using a non-bleach cleaning solution. It is generaly used on hardwood or tile floors.