How is it better than Roomba and Neato -- what's the cleaning algorithm? Does it map the space? etc. Edit: thanks, you answered while I was asking. That's a ve

How is it better than Roomba and Neato -- what's the cleaning algorithm? Does it map the space? etc. Edit: thanks, you answered while I was asking. That's a very interesting use case for SLAM. Does it re-map every use (i.e. today there's toys on the floor, but tomorrow there's not)? Does it store the point cloud or convert it to something more manageable? Are you licensing someone's SLAM library or did you roll your own?