Yes, it occasionally will stop only a foot or two away from charger. Mine stops every time it nears edge of stairs so it doesn't fall. Boundary marker helps if you don't want it going in a certain room or nervous at top of stairs. Compared to Irobot Roomba, this will leave defined path it took while cleaning. Mine does alternate directions, so it doesn't go back and forth same direction with each cleaning. Mine was refurbished too but it will run for an hour on carpet/laminated before needing to re charge. It seems like refurbished meant they replaced battery and filter and roller, only found slight scratch on case but now has more after going under furniture.
Neato XV-21 Robot Vacuum
6’ Boundary Marker
1 Pet Filter
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