Obsessed to leg of table

My robotic vacuum used to work perfectly, but recently its navigation has become unreliable. It often gets lost, fails to find the ramp or return to its dock, and treats the edge of carpets as walls. Sometimes it also becomes stuck around chair or table legs, even though it had no problem with these obstacles a few months ago.
Additionally, I would like to suggest adding an option to control the robot over the local network. This would be very useful when there is no internet connection, allowing basic commands and control to continue working.

How often are you cleaning the sensors?