After constantly having to replace lead acid batteries, I splurged on a 100AH LiFePo4 battery. Though I had to reconfigure the base of the robot, I have more than enough battery capacity to run for hours. I paired the battery with a Victron 30A charger (litime charger was out of stock) and it can easily recharge the battery while keeping all the electronics on (don't have to turn off the robot to recharge). I justified to the wife by telling her when we lose power at the house, we can use the robot's battery to keep our cellphone charged for weeks.