We have had this robot vacuum for almost a year and honestly I am disappointed. We previously had the most basic roomba vacuum and after 6 years were ready to upgrade due to how loud it was, the constant inconvenience of having to empty it, and the time it took to clean and missing spots since it did not map our home. We spent over a week comparing and reviewing all the robot vacuums and thought this was would be the winner. My issues with this vacuum is, while it was much quieter in the beginning, it is now just as loud as our previous for unknown reasons. We have a lovesac sactional and frequently change the position/style and have had issues with reconfiguring the mapping either missing areas, not completing the mapping, or just how long it takes to remap. The wheels that move with the change of floor or going over a rug, often leave massive piles of dog hair on our rug and do not self vacuum back up and recently noticed dog hair gets stuck in between the wheels making it extremely difficult to remove. I don't recommend this vacuum if you have long haired dogs. I wish we would have just went with another roomba at this point. I don't recommend.