{"type":"ScholarlyArticle","title":"CoBots: Robust Symbiotic Autonomous Mobile Service Robots","authors":[{"name":"Manuela M. Veloso","slug":"manuela-m-veloso","given":"Manuela M.","family":"Veloso","affiliation":""},{"name":"Joydeep Biswas","slug":"joydeep-biswas","given":"Joydeep","family":"Biswas","affiliation":""},{"name":"Brian Coltin","slug":"brian-coltin","given":"Brian","family":"Coltin","affiliation":""},{"name":"Stephanie Rosenthal","slug":"stephanie-rosenthal","given":"Stephanie","family":"Rosenthal","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/2015/656","pdf":"https://ijcai.org/proceedings/2015/0656.pdf","markdown":"https://ijcai.org/proceedings/2015/656.md","bibtex":"https://ijcai.org/proceedings/2015/bibtex/656","volume":{"slug":"2015","title":"Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2015","url":"https://ijcai.org/proceedings/2015/","year":2015,"location":"Buenos Aires, Argentina","dates":"25–31 July 2015","editors":"Qiang Yang and Michael Wooldridge","isbn":"978-1-57735-738-4","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Invited","track":"Invited","number":656,"pages":{"first":4423,"last":-1},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}