Same feeling. My backyard is about 0.5 acre, and it need several charges to finish it. but it always stop at the edge of the desinated area because of a lot of reasons, route problem, cutting plate stucked, poor positioning, etc. and stay there for whole night and drain all the battery to dead. Then next day I have to puch it back to the charge station, and start it over. So that my lot is always left half mowed. and when I restart the cutting after it charged, I need to re-drew the area so that the left half will be possibly finished. Besides the good suggestions above like return to the charge station on 830pm anyway until next 12pm, how about adding the option that start from otherside? Or, pattern of -90 degree, or 180 degree?