[Jon Stratis]

Originally Posted by Kevin Sevcik

I think applying that logic to a round frame would imply that you need the entire perimeter covered in bumper, as every point on the perimeter is a "corner".

Yes, it depends on how you define "corner". I'm assuming you define it as a change in direction of the perimeter. If you're insisting that it has to be a "sharp" step change in direction for it to count as a corner, then any robot could be bumperless by taking a belt sander and rounding the corners of their frame.

You are correct, according to the GDC response to Q203 on the Q&A:

In the example of a circular FRAME PERIMETER, the entire FRAME PERIMETER would require BUMPERS.