I was inspired to write this review by reading a lot of BAD reviews complaining about crazy things! I have a ranch style home that is 90% carpet and 10% hardwood or laminate. I have a deep pile carpet with a thick pillow and I have a dog. So a very good test. I read a lot of reviews before and after I bought this S9 and M6 combo and I think most of them are exaggerated. Here are some tips I've learned from my use and from talking to tech support. Pick up loose objects such as pillows, cords, toys, etc. off the floor. When creating a map, you want the robots to move as freely as possible. You can add zones later, but for map runs you want an open floor plan.2. If you have rugs, lift or tape them up. Again, this only applies to mapping runs.3. SWITCH ON THE LIGHT! Robots need light to navigate, so give them as much light as possible. You must complete 2 full mapping runs to get a complete map.5. card, not clean. Card runs are for learning. Your robots will explore your home faster if you map it instead of cleaning it. CLEANING1. THIS IS NOT LOUD! I read a lot of reviews about how noisy it is. You all know it's a vacuum, right? The vacuum creates suction, and physics dictate that noise is created. Have you ever used a conventional vacuum cleaner? It's noisy! This vacuum is noisier than other robot vacuums, which is a good thing because it has more suction and picks up more dirt. Do you want a robot that cleans? Or a robot pretending to clean?2. Don't expect this to clean your house while you sleep. As I said before, it takes light to navigate. So if you can't sleep with the lights on, don't be frustrated that you have to leave the vacuum running during the day. The navigation is phenomenal! This was an upgrade from a competitor and I was blown away by the difference! It moves purposefully and walks back and forth in space and then rounds the corners. If it finds a dirty area, it will hit it two or three more times. I stopped the robot after cleaning to see what it had collected and each time there was a large amount of pet hair and dirt. I am very satisfied with the cleaning performance. TECHNICAL SUPPORT The technical support is fantastic! I called them several times with questions and they are very knowledgeable about robots and software. If you email them, they will advise you to call and talk to someone. Most companies are trying to reduce call volume, they are trying to increase it! I think because they want to help you as soon as possible. The waiting time was less than 5 minutes.