Joseph L Jones, Newton E Mack, David M Nugent, Paul E Sandin: Autonomous floor cleaning robot. IRobert, Fish & Richardson P C, November 11, 2008: US07448113 (164 worldwide citation)

An autonomous floor-cleaning robot comprising a housing, a powered wheel drive, a command and control subsystem; and a cleaning head including a deck mounted to pivot with respect to the housing, a brush assembly mounted in the deck and powered to sweep, a vacuum assembly mounted in the deck separat ...