Watched the last two videos, I think this pool is akin to robot hell for pool cleaners.
How does it determine where it is? Is it rotary sensors on the wheels say it has moved x amount, with no other feedback device to show it did move and not just spin the tracks. So it's programming just gets confused all the time. It needs a GPS base like farmers have on their tractors. 10mm accuracy., I think they are only about $10 000. Or just have an idler wheel with a sensor so when the drive is moving, but the idler wheel is not, then it knows it is going nowhere.