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Home sensor nodes are devices embedded in home appliances and are designed to sense environments, to process collected information, to perform a specific task, and to cooperate with other units. The advances of VLSI technologies and wireless sensor networks (WSN) turn the inspirational idea of intelligent home appliances into reality. In this paper, we focus on a category of home appliances, Smart Home Vacuum (SHV), where mobility and battery are critical design concerns. The emphasis of this paper is on the design of SHV system and the development of a goal driven task planning (GDTP) engine which can be implemented in the wireless vacuum systems to maximize the network lifetime as well as the cleaning efficiency. Unlike LEACH, proposed GDTP engine is a goal-driven approach to select the cluster heads to satisfy the design goals. Simulations are conducted by the network simulator (ns-2) and the experiment results indicate that GDTP performs better than other algorithms in terms of the network lifetime and the cleaning area coverage.