The movable wall concept
Every non-target robot can be converted into a stopper. Place it where no wall exists and create a custom turn point.
Treat helper placement as infrastructure. Build once, reuse multiple times in one route.
On a 16x16 board, static walls are sparse. Most rows and columns have only two or three wall segments. That means the majority of stopping points you need simply do not exist in the fixed map. Helper robots fill these gaps. Think of them as temporary architecture you install before running the target robot through.
A powerful mental model: before each puzzle, count how many natural stopping points exist on the target's row and column. If fewer than two, you almost certainly need a helper robot as a stopper.