First,
@bernard thank you for the explanation. Made things a bit clearer for me.
However, I don't understand why this spike function was - obviously in some of the later releases - implemented at all. Any idea?
I may be wrong, but I thought that my Alfred followed the calculated paths more or less fine (regardless of the random, a few seconds lasting movement interrupts with beeps on the lawn). At least he found always his way into the docking station.
Now a few minutes ago, it just occured again (as described by me in my first post within this thread): Alfred couldn't dock! In various attempts he moved against the garage which triggered the bumper. He retreated and made several new approaches with same unsuccessful results until I sent a "stop" signal via Sunray.
Then I "rebooted" Alfred, "connected" again, and sent the "dock" signal (all via Sunray on my Windows PC). His docking was then immediately successful with no problems at all.
My analysis of this strange behavior: there is a counter or stack or buffer or something similar which "overruns" after a long online-time and which is reset (beside others, of course) by the "reboot". If this is the case, resetting just this counter each time the mower is charging should solve this problem, because time interval between 2 charging sessions is only 2 - 4 hours (depending on battery capacity, gras height and other environment / power consumption conditions).
Am I wrong?