CoBots: Robust Symbiotic Autonomous Mobile Service Robots

Veloso, Manuela M.; Biswas, Joydeep; Coltin, Brian; Rosenthal, Stephanie

CoBots: Robust Symbiotic Autonomous Mobile Service Robots

Manuela M. Veloso, Joydeep Biswas, Brian Coltin, Stephanie Rosenthal

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Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence. Invited. Pages 4423--1.

Abstract

We research and develop autonomous mobile service robots as Collaborative Robots, i.e., CoBots. For the last three years, our four CoBots have autonomously navigated in our multi-floor office buildings for more than 1,000km, as the result of the integration of multiple perceptual, cognitive, and actuations representations and algorithms. In this paper, we identify a few core aspects of our CoBots underlying their robust functionality. The reliable mobility in the varying indoor environments comes from a novel episodic non-Markov localization. Service tasks requested by users are the input to a scheduler that can consider different types of constraints, including transfers among multiple robots. With symbiotic autonomy, the CoBots proactively seek external sources of help to fill-in for their inevitable occasional limitations. We present sampled results from a deployment and conclude with a brief review of other features of our service robots.

Manuela M. Veloso, Joydeep Biswas, Brian Coltin, and Stephanie Rosenthal. 2015. CoBots: Robust Symbiotic Autonomous Mobile Service Robots. In Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-15. IJCAI, 4423–-1. https://ijcai.org/proceedings/2015/656

@inproceedings{ijcai2015p656,
  title     = {CoBots: Robust Symbiotic Autonomous Mobile Service Robots},
  author    = {Veloso, Manuela M. and Biswas, Joydeep and Coltin, Brian and Rosenthal, Stephanie},
  booktitle = {Proceedings of the Twenty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-15}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Qiang Yang and Michael Wooldridge},
  pages     = {4423---1},
  year      = {2015},
  month     = {7},
  note      = {Invited},
  url       = {https://ijcai.org/proceedings/2015/656},
}

TY  - CPAPER
TI  - CoBots: Robust Symbiotic Autonomous Mobile Service Robots
AU  - Veloso, Manuela M.
AU  - Biswas, Joydeep
AU  - Coltin, Brian
AU  - Rosenthal, Stephanie
T2  - Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-15
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2015
SP  - 4423
EP  - -1
UR  - https://ijcai.org/proceedings/2015/656
ER  -