Presented at Biennale Interiur 2014, Roomba Ballet was the final phase of the exhibition SQM: The Quantified Home by curator Joseph Grima and his Genova-based collective Space Caviar, which took place in the gym of the Broel School, Kortrijk. It represented the apotheosis of the smart home in a choreographed dance of iRobot Roomba vacuum cleaners. Each Roomba was controlled by an Arduino based board, which sent the instructions via the Roomba serial port, using the iRobot SCI protocol. The robots danced in pairs to a classic waltz, the Blue Danube waltz by Strauss.