Methods, systems, and computer program products for high-performance interprocess communication. The system includes at least one boundary marker located along the outer edge of the area to be covered, a robot with a navigation system that navigates the robot in generally straight, parallel lines from an initial location and turns the robot when the robot encounters one of the boundary markers, thereby to systematically move about the area to be covered. The return electrode includes a sheet of material having an effective bulk impedance equal to or greater than about 4,000.