Don’t just identify places vacuumed vs not, but include places vacuumed multiple times. Provide a score. Goal is a perfect 0, negative score implies missed areas, positive is over-vacuumed… Positive score only counted if the whole area is vacuumed to avoid just cleaning the same tiny area until the over-vacuum score counts for the whole rug.

Now, make this an AR game, with leaderboards based on rug dimensions.

My city is on there! And it nearly fills in the whole circle. Unsurprising, as we effectively have streets that intersect with themselves. East coat USA is a clusterfuck of city planning.