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Thank you for this solution. I've tried 2 other robot vacuums (LG hombot & Zoef) and the Roomba is the only one that's actually is able to clean the rug without getting stuck because of the legs of my furniture or because of the rug itself. The initial problem with the Roomba was my black & white rug, but because of your solution I was able to put pieces of white paper on top of the ledge sensors. The white tape I used was still too transparant.