Coverage handles bump hazards poorly

[JonathanNash21]

When testing out the coverage action, I've noticed that whenever the Create3 runs into a wall or something that is relatively immovable for the robot, it spins its wheels around a bit and then aborts. For items it can move (or get moved away fast enough), it seems to just rotate around a bit and then move in a new direction, and if it bumps into another object soon afterwards it immediately aborts. My question is, why would it not back up a bit before turning around? Having this as a feature would very likely prevent the action from aborting so often, and it can still remain within the realm of a given safety feature, unless I'm misunderstanding something. It's rather annoying having to manually move the robot from a wall and then re-run the coverage action multiple times.