First off the mapping function does not work well at all I don’t even know what it’s trying to do and maybe an update will fix it. My biggest issue is the amount of dust the vacuum collects on the sides and on the sensors after it vacuums and empties out. I have to clean the sensors everyday!! Defeats the purpose of self-empty cause I still have to pick it up and clean off the sensors.  When the sensors are clean it does clean the floor really well so that’s a plus.