They are selling product, millions of dollars in US ARMY contracts, they are making money,those are just a few reasons.
They also have the ability to recruit and PAY the top brains in the field, something that Gosy seems unable to do.
I guess one could go with the FACTS BE FACTS scenario or one could believe that Martin Spencer is smarter than all the engineers,roboticists,software developers etc. that IRBT has on board or can hire if needed.
Maybe Martin could get a job at IRBT and start saving towards launching his own project. Probably more productive than arguing with 5-6 people on a MB. Dont you think?