Using CheckPoints You will notice that the "wake" behind Cye becomes fuzzier the more you drive the robot. This is because the more it travels, the less certain Cye becomes of its precise location. This can also be detected by noting the size of the yellow "halo" around Cye. This shape represents the area where Cye "thinks" he is. As Cye navigates, miniscule discrepancies -- between where the robot thinks it is located and where it actually is traveling -- arise and accumulate. Every once in a while, Cye needs to check where it really is against where its navigation system calculates it to be. Based on what it finds, Cye can then update its position accordingly. Cye carries out these "reality checks" at CheckPoints. The Home Base where Cye charges up his batter is an example of a CheckPoint.