Have had about 5 different robotic vacuums and this one has the most features, is the quietest and does the best job at cleaning. It bumps into far less walls and actually leaves vacuum lines like a full upright. So far, the only issue that I have is that the self cleaning canister has bags that must be bought, instead of something that could be reused. But, all things concerned, it's a minor problem that arose from me never having to vacuum again so...worth it.