iRobot actually makes a dev platform that would work great for this: <a href="https://store.irobot.com/default/create-programmable-programmable-robot-irobot-create-2/RC65099.html" rel="nofollow">https://store.irobot.com/default/create-programmable-program...</a><p>Its not much more at $200 and gets you all the sensors on a roomba (bump, cliff, etc), return to dock, charging, virtual walls, etc.