It would be awesome if someone could do a comparison between the two. The whole reason that we're getting rid of the Polaris is because it gets stuck in the corner of the pool and doesn't clean anywhere but there. We have to babysit it and constantly move it to get the rest of the pool clean. It just wants to drive itself right back in to it's corner and stay there. We've tried everything to get it to stop doing that and nothing works. I would hate to end up doing the same with a robot that gets stuck on the drain. Our drains are pretty low profile so hopefully it won't be an issue. I went ahead and ordered the 30i from Marina today. Fingers crossed!