I'm loving the vacuum so far! It mapped out my floor plan well and gets under the coffee table and other furnished areas that my normal vacuum can't reach without moving the furniture. You do have to be careful what you leave on the floor though. It did get tangled up on a cat toy we had lying around, but that was the only thing it has gotten caught up in. As far as battery life goes it can do my whole house on one charge (about 1300 SQ ft) and emptying it out is easy. Overall, I'm happy with the product.