---
title: "CoBots: Robust Symbiotic Autonomous Mobile Service Robots"
authors:
  - "Manuela M. Veloso"
  - "Joydeep Biswas"
  - "Brian Coltin"
  - "Stephanie Rosenthal"
doi: ""
url: "https://ijcai.org/proceedings/2015/656"
pdf: "https://ijcai.org/proceedings/2015/0656.pdf"
venue: "Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence"
year: 2015
pages: "4423--1"
track: "Invited"
keywords:
---

# CoBots: Robust Symbiotic Autonomous Mobile Service Robots

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

*Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence*, 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.