Our conditions are 4 rooms and 4 people. There are no carpets and no pets either. To clean four rooms, you need a model with cartography or navigation. The latest models from Bosch and iRobot have a D shape, it is optimal for corners and the brush located in the straight part has a large contact area and dust intake. This D7 model has a good battery for 120 minutes of work, Wi-Fi in both frequencies. In the back room, the robot loses Wi-Fi like all our other gadgets, but it does not lead to glitches, it returns and accurately conveys what it saw and what it vacuumed. The map he created is very accurate. Cleans 4 rooms in 1 hour and 10 minutes. Consumes half the battery. Now I use a stationary vacuum cleaner only to clean the robot. I set up voice control through Google Assistant, it works. But I don't need it. Why should I talk to the vacuum cleaner? :-) Note after 6 months: filters with Ali are slightly worse than the original, the robot works and tries, the dust has disappeared. The apartment is no longer vacuumed (from people), well, maybe once a month with an ordinary vacuum cleaner sofa.