All the classic examples of utopian thinking expressed in literature include a slave class which forms the majority of the populace.

I am hopeful that robots and the IoT could be that permanent slave underclass for us. But, for it to work, we must be the masters of our robot slaves and not some megacorporation. If we have robots not fully under our control/leased to us, or that are constantly watching and reporting on us, then we are the indentured servants/slaves rather than the robots.

The phoning home and rental model for IoT has intractable ethical and freedom problems IMHO.