Aspiro on top! Cleaning quality! At first I was not convinced but after using it can no longer have to do without! It is smart Indeed, while dodging obstacles, goes everywhere, between the chair legs ... So right now I can not find it to be slightly apart dafaut it is noisy! The top is to use programming to turn the way when you're not! Character it saves me 2 x 15 minutes a day, I have 2 cats at home and it has changed my life!