The robot literally will get stuck every time on my 1 inch shaggy carpet - so we ended up get a normal half inch thick carpet for that area (in the family room). The first floor where it primarily vacuums it does a very good job, so much so that we did not need to vacuum all week... and my household consists of 3 young children and a 100lb mastiff! The automatic disposal (the plus feature) is very useful as we don't have to worry about constantly emptying the vacuums debris. No buyers remorse here! And for what it's worth we also got the paired mop - which does a "good enough" job... love having clean floors with minimal effort! I am looking forward to the Keep Out Zones - which would have been useful with my shaggy rug problem. I took a star away because of iRobots failure to mention that it will not work on thick/shaggy carpet.