Robot doing lots of confusing circling

The robot is doing lots of circling around in no certain patterns snd is having a hard time wiyj my long hallway rug. Sometimes it can't make it back to the dock. I ironed by rug to be sure it's perfectly flat to no avail. I finally got it to map my entire home. So, I dread a reset. However,  I'll reset it to factor settings, remap and try again before returning the device. Any help would be appreciated. Update post multiple factory resets: It won't map entire floor and gets stuck on short high traffic rubs. Sending back to Amazon as my robot is not ready for prime time.