1. US20220007570 - Degraded Performance Detection and Control

Systems and techniques for detecting suboptimal mowing due to impacted vegetation and/or orientation changes are discussed. In some examples, blade speeds, blade heights, torques, and/or a current required to spin the blades of a mower at a determined rate may be calibrated and associated with a lawn mower and/or map. Changes in any one or more of the blade speed, current required, torque, etc. (and/or additional data from one or more sensors on the mower) may be used as an indication for determining whether vegetation has impacted the underside of a mower, whether the blade has struck an object, whether the mower is undergoing an orientation change, whether the mower requires maintenance, and the like. Based on the indication, the mower can perform one or more functions to attempt to remediate the problem autonomously and/or send a signal to a user for additional help.