I love this upgraded Shark robot vac, my previous one did not map, not did it empty itself.  Once I got the vacuum into the charger (the photo on the Quick Start card showed being inserted into the base backwards, so I struggled with getting it in right at first), and charged up, it didn't take long before it was mapping my living, dining rooms and kitchen. It's so nice not having to empty it every time I use it.  I like the Spot Mode feature where I can vacuum just a 5x5 area if I wish.  I do wish it were quieter, I cannot really listen to the radio or watch tv while it's running because it's rather noisy.  But since it maps out the vacuuming, I can leave the room and do something in another part of the house or work outside.  It does a great job of vacuuming, just wish I didn't have to use my phone to use the app.  I don't know why, but I thought it would come with it's own remote, but guess those days are over.