Robotic Vacuum

What model was the first robotic vacuum cleaner and when was it made?

I got an assignment on robotics but I couldn’t find anywhere on the net which robotic vacuum cleaner was the first. Could any of you in the nice Yahoo community help me with this?

The one that comes to mind is Roomba and i think it came out in 2002. Don’t know if there was anything before that.

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Tags: cleaner, robot, robotic, roomba, vacuum