(How will he return to his palace and how will he test the suitors? What assignment does he give Telemachus?)
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He dressed as a beggar and hung out with the suiters to see if anything inappropriate was happening. He eventually just kills them all to be sure.
Oh yes, Odysseus tells Telemachus to hide palace’s surplus arms where the suitors cannot easily reach them. Later the two of them would grab some weapons and go all Chuck Norris on them (slaughter them) .
The prince reveals (16.270–287) that there are some 108 noblemen, plus assorted servants and one bard (Medon), in the group and wonders how the two of them can overcome such numbers. Odysseus puts his faith in Athena and Zeus. With that as a premise, the father and son devise their plan. Telemachus is to return to town and mix with the suitors. Odysseus, in disguise, will follow. No matter how poorly the suitors may treat the old beggar, Odysseus and Telemachus are to bide their time and refrain from striking back until the moment is right. At a signal, the prince is to gather all the weapons and place them in the storeroom. If challenged, he can say that he does this to protect the gear. He must leave out weapons only for himself and his father.
Antinous is the most aggressive of the suitors. Concerned that public opinion is shifting to the side of the prince, he wants to strike immediately, assassinating Telemachus before he can gather support. The suitors, especially Antinous, are haughty and arrogant, which prove to be their downfall. This outspoken leader's arrogant plan includes seizing all of Telemachus' land and valuables immediately after the murder and dispensing them among the freeloaders. The palace itself will go to Penelope and, of course, the man she weds — a man Antinous believes to be himself.