The Best Plan
One of my responsibilities at SGS was path planning. Given a yard perimeter of any realistic size or strange shape, my job was to find the best path for cutting. "Best" is a fun word on projects like this. Depending on the customer, it could mean shortest amount of time. It could mean most attractive diamond cut pattern. Often, it meant efficient and attractive and NOT the way it was cut last time because we don't want to create ruts in their yard.
As part of the development of the main algorithms, I developed desktop app for automatically testing and viewing the results. The app sat on top of a database of hundreds of real-world yards, some collected by the mower itself and some pulled directly from Google Maps.