I've had an upright most of my life so I bought a bagless, canister this time. I appreciate being able to reach under beds and tables etc., the led lights on the vacuum beater brush and the vacuum on this model is really super on carpet, the retractable cord is a huge plus. The way the vacuum breaks down for different cleaning situations is great. The vacuum shuts off the machine when it gets full. Very nice. Canister is pretty sweet. The improvements could be done on the attachments. The nozzle could be longer and the accessory brush could stand to be thicker. The angle at which the beater brush needs to be angled for optimal cleaning under furniture is an issue. There isn't height adjustments for hardwood to carpet