As a quick review, the robot itself is pretty awesome and that's coming from a Roomba owner who has had four different roombas starting back when they were really lame all the way up to my last 650 model. I have had a ton of fun with the roombas but I decided that I wanted a robot that did a better job at some kind of cleaning pattern. I decided to go with the 9350 because of the "select and go" feature and have been sorely disappointed in how poorly it performs but it's really just that the app is garbage and should be turned over to the open source community as we'd crush it. Specific changes that should be made in the mapping is that the robot should only run the perimeter of each room and not vacuum the house as it maps. The second thing that needs to happen is that they need to incorporate user input into the mapping so that rooms can be broken up especially with open floorplan houses. This could also be accomplished by allowing the user to have an edit feature. They should have a manual mapping mode that lets the user drive the thing around with the remote to map out areas that they want to get into or to avoid. One of the features that really lacs on this robot is its inability to determine if it is sensing a cliff (or stair) or if it's just going over a dark pattern on a floor. This robot hates running across my area rug in my living room because it thinks that the dark patterns are cliffs and it tries to get around them, trapping itself like a cat in a tape square (try it, it works). And speaking of cliffs, it does not handle them well at all. Sure, it finds them and stops but then it has the tendency to turn around and back up off of them if they are in a door jamb where it might run into the jamb as it avoids the cliff. Then it backs off the cliff to avoid the door jamb... seriously? WTF? All of these problems are simple to fix and it seems that the real problem with this little robot is that they were trying too hard to get it out and the firmware is still in beta 0.0.53 after my last OTA update. I am sure that if they ever release the 1.0.0 firmware, it will be a rocking little robot but their customer communication is horrendous. I would not recommend that anybody buy a samsung robot with the way they go about things. However, if you are a hacker, this might be the exact little robot for you. I am keeping it since the only problems that I can find with it are in the app and firmware, it won't be long before I have my own system running on it and it will at that point out perform all of the other robot vacuums that I have had. Samsung, you neeeeeeed to put the 9350 on github and let us fix it for you. Then you'd have, by far, the best robot vacuum of them all but I doubt your ability to deliver this on your own.