diff --git a/libnymea-app/types/interfaces.cpp b/libnymea-app/types/interfaces.cpp
index b2b35fa9..96910a36 100644
--- a/libnymea-app/types/interfaces.cpp
+++ b/libnymea-app/types/interfaces.cpp
@@ -89,7 +89,11 @@ Interfaces::Interfaces(QObject *parent) : QAbstractListModel(parent)
     addInterface("sensor", tr("Sensors"));
 
     addInterface("cleaningrobot", tr("Cleaning robots"));
-    addStateType("cleaningrobot", "state", QVariant::String, false, tr("Cleaning state"), tr("Cleaning state changed"));
+    addStateType("cleaningrobot", "robotState", QVariant::String, false, tr("Robot state"), tr("Robot state changed"));
+    addActionType("cleaningrobot", "startCleaning", tr("Start cleaning"), new ParamTypes());
+    addActionType("cleaningrobot", "stopCleaning", tr("Stop cleaning"), new ParamTypes());
+    addActionType("cleaningrobot", "pauseCleaning", tr("Pause cleaning"), new ParamTypes());
+    addActionType("cleaningrobot", "returnToBase", tr("Return to base"), new ParamTypes());
 
     addInterface("closablesensor", tr("Closable sensors"), {"sensor"});
     addStateType("closablesensor", "closed", QVariant::Bool, false, tr("Closed"), tr("Opened or closed"));
diff --git a/nymea-app/ui/Nymea.qml b/nymea-app/ui/Nymea.qml
index 3f4c0ba7..9dec10a3 100644
--- a/nymea-app/ui/Nymea.qml
+++ b/nymea-app/ui/Nymea.qml
@@ -238,6 +238,8 @@ ApplicationWindow {
             return qsTr("Ventilation")
         case "barcodescanner":
             return qsTr("Barcode scanners");
+        case "cleaningrobot":
+            return qsTr("Cleaning robots")
         case "uncategorized":
             return qsTr("Uncategorized")
         default:
diff --git a/nymea-app/ui/delegates/InterfaceTile.qml b/nymea-app/ui/delegates/InterfaceTile.qml
index 980531a9..b68f8238 100644
--- a/nymea-app/ui/delegates/InterfaceTile.qml
+++ b/nymea-app/ui/delegates/InterfaceTile.qml
@@ -190,6 +190,7 @@ MainPageTile {
             case "powersocket":
             case "irrigation":
             case "ventilation":
+            case "cleaningrobot":
                 return buttonComponent
             case "media":
                 return mediaControlComponent
@@ -271,7 +272,10 @@ MainPageTile {
             Layout.fillWidth: true
             spacing: 0
 
-            Item { Layout.fillWidth: true; Layout.fillHeight: true }
+            Item {
+                Layout.fillWidth: true; Layout.fillHeight: true
+                visible: label.visible || firstButton.visible
+            }
 
             Label {
                 id: label
@@ -310,6 +314,7 @@ MainPageTile {
             }
 
             ProgressButton {
+                id: firstButton
                 longpressEnabled: false
                 visible: imageSource.length > 0
                 color: Style.tileOverlayIconColor
@@ -336,6 +341,10 @@ MainPageTile {
                     case "shutter":
                     case "extendedshutter":
                         return "../images/up.svg"
+                    case "cleaningrobot":
+                        var thing = thingsProxy.get(0)
+                        var robotState = thing.stateByName("robotState")
+                        return robotState.value == "cleaning" ? "../images/media-playback-pause.svg" : "../images/media-playback-start.svg"
                     default:
                         console.warn("InterfaceTile", "inlineButtonControl image: Unhandled interface", iface.name)
                     }
@@ -375,15 +384,28 @@ MainPageTile {
                             engine.thingManager.executeAction(device.id, actionType.id)
                         }
                         break;
+                    case "cleaningrobot":
+                        var thing = thingsProxy.get(0)
+                        var robotState = thing.stateByName("robotState")
+                        if (robotState.value === "cleaning" || robotState.value === "paused") {
+                            engine.thingManager.executeAction(thing.id, thing.thingClass.actionTypes.findByName("pauseCleaning").id)
+                        } else {
+                            engine.thingManager.executeAction(thing.id, thing.thingClass.actionTypes.findByName("startCleaning").id)
+                        }
+                        break;
                     default:
                         console.warn("InterfaceTile:", "inlineButtonControl clicked: Unhandled interface", iface.name)
                     }
                 }
             }
 
-            Item { Layout.fillWidth: true; Layout.fillHeight: true }
+            Item {
+                Layout.fillWidth: true; Layout.fillHeight: true
+                visible: secondButton.visible
+            }
 
             ProgressButton {
+                id: secondButton
                 longpressEnabled: false
                 visible: imageSource.length > 0
                 color: Style.tileOverlayIconColor
@@ -409,6 +431,7 @@ MainPageTile {
                     case "extendedblind":
                     case "extendedawning":
                     case "extendedshutter":
+                    case "cleaningrobot":
                         return "../images/media-playback-stop.svg"
                     default:
                         console.warn("InterfaceTile, inlineButtonControl image: Unhandled interface", iface.name)
@@ -449,15 +472,24 @@ MainPageTile {
                             engine.thingManager.executeAction(device.id, actionType.id)
                         }
                         break;
+                    case "cleaningrobot":
+                        var thing = thingsProxy.get(0)
+                        engine.thingManager.executeAction(thing.id, thing.thingClass.actionTypes.findByName("stopCleaning").id)
+                        break;
                     default:
                         console.warn("InterfaceTile, inlineButtonControl clicked: Unhandled interface", iface.name)
                     }
                 }
             }
-            Item { Layout.fillWidth: true; Layout.fillHeight: true }
+            Item {
+                Layout.fillWidth: true; Layout.fillHeight: true
+                visible: thirdButton.visible
+            }
 
             ProgressButton {
+                id: thirdButton
                 longpressEnabled: false
+                visible: imageSource.length > 0
                 color: Style.tileOverlayIconColor
                 imageSource: {
                     switch (iface.name) {
@@ -571,6 +603,8 @@ MainPageTile {
                             var actionType = thing.thingClass.actionTypes.findByName("close");
                             engine.thingManager.executeAction(thing.id, actionType.id)
                         }
+                    case "cleaningrobot":
+
 
                     default:
                         console.warn("InterfaceTile, inlineButtonControl clicked: Unhandled interface", iface.name)
diff --git a/nymea-app/ui/devicepages/CleaningRobotThingPage.qml b/nymea-app/ui/devicepages/CleaningRobotThingPage.qml
index 6b522734..aa399005 100644
--- a/nymea-app/ui/devicepages/CleaningRobotThingPage.qml
+++ b/nymea-app/ui/devicepages/CleaningRobotThingPage.qml
@@ -70,6 +70,7 @@ ThingPageBase {
                 Timer {
                     interval: 500
                     running: true
+                    repeat: false
                     onTriggered: {
                         robotArea.initialized = true;
                         robot.evaluateState()
@@ -115,7 +116,7 @@ ThingPageBase {
                             }
                             return
                         case "docked":
-                            if (robotArea.robotX != robotArea.radius || robotArea.robotY != robotArea.radius) {
+                            if (Math.abs(robotArea.robotX - robotArea.radius) > 2 || Math.abs(robotArea.robotY - robotArea.radius) > 2 || robot.rotation != 0) {
                                 robot.travel(true)
                             }
                             return
@@ -133,6 +134,7 @@ ThingPageBase {
                     }
 
                     function travel(toHome) {
+                        print("robot traveling")
                         var areaWidth = robotArea.width;
                         var radius = areaWidth / 2
 
@@ -159,7 +161,7 @@ ThingPageBase {
                                 var toXCentered = toX - centerX
                                 var toYCentered = toY - centerY
                                 distanceToCenter = Math.abs(Math.sqrt(Math.pow(toXCentered, 2) + Math.pow(toYCentered, 2)))
-                                print("new pos:", toX, toY, "to center:", toXCentered, toYCentered, "radius:", radius, "distance to center", distanceToCenter)
+//                                print("new pos:", toX, toY, "to center:", toXCentered, toYCentered, "radius:", radius, "distance to center", distanceToCenter)
                             } while (distanceToCenter > (radius - robot.width / 2))
                         }
 
@@ -176,8 +178,11 @@ ThingPageBase {
                         travelYAnimation.duration = travelDuration
 
                         rotationAnimation.from = robot.rotation
-                        rotationAnimation.to = robot.getAngleDegrees(fromX, fromY, toX, toY)
-                        print(":", fromX, fromY, toX, toY, rotationAnimation.to, "__", robotArea.robotX)
+                        if (Math.abs(fromX - toX) <= 1 && Math.abs(fromY - toY) <= 1) {
+                            rotationAnimation.to = 0;
+                        } else {
+                            rotationAnimation.to = robot.getAngleDegrees(fromX, fromY, toX, toY)
+                        }
                         travelAnimation.start()
                     }