If in the event, that there are new obstacles placed that differ from the initial mapping, does it always come back to the area that is incomplete, until the obstacle moves away? or it will recognize and self-register that change has been made and avoid the area in the map?

The S170 Navi just circumvents the obstacle and will cover the area with the next run again. In case it’s a new steady piece of furniture or something we will re-draw the map.