Detecting Obstacles Obviously, the area where Cye will navigate and execute tasks will not be completely clear, wide open space. Cye is sure to encounter walls, furniture, and other obstacles. When it does so, the corresponding areas on your map will be rendered in black. The more you navigate Cye, the more accurately your floor plan will record the location of the obstacles and the open areas. In the following pages, notice how the floorplan becomes more detailed as the robot is driven to more areas.