{"type":"ScholarlyArticle","title":"The Quest For \"Always-On\" Autonomous Mobile Robots","authors":[{"name":"Joydeep Biswas","slug":"joydeep-biswas","given":"Joydeep","family":"Biswas","affiliation":"CICS , University of Massachusetts Amherst , MA , USA"}],"abstract":"Building ``always-on'' robots to be deployed over extended periods of time in real human environments is challenging for several reasons. \r\nSome fundamental questions that arise in the process include: \r\n1) How can the robot reconcile unexpected differences between its observations and its outdated map of the world? \r\n2) How can we scalably test robots for long-term autonomy?\r\n3) Can a robot learn to predict its own failures, and their corresponding causes?\r\n4) When the robot fails and is unable to recover autonomously, can it utilize partially specified, approximate human corrections to overcome its failures?\r\nWe summarize our research towards addressing all of these questions. \r\nWe present 1) Episodic non-Markov Localization to maintain the belief of the robot's location while explicitly reasoning about unmapped observations; 2) a 1,000km challenge to test for long-term autonomy; 3) feature-based and learning-based approaches to predicting failures; and 4) human-in-the-loop SLAM to overcome robot mapping errors, and SMT-based robot transition repair  to overcome state machine failures.","doi":"10.24963/ijcai.2019/893","url":"https://ijcai.org/proceedings/2019/893","pdf":"https://ijcai.org/proceedings/2019/0893.pdf","markdown":"https://ijcai.org/proceedings/2019/893.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/893","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Early Career","track":"Early Career","number":893,"pages":{"first":6388,"last":6392},"keywords":["Robotics: Dependable Robots","Robotics: Localization, Mapping, State Estimation","Robotics: Vision and Perception"],"videos":[],"references":[{"position":1,"raw":"[Biber and Duckett, 2005] Peter Biber and Tom Duckett. 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In IJCAI 2018, pages 4905-4911.","title":"Interactive Robot Transition Repair With SMT","authors":"Holtz","year":null,"venue":"IJCAI 2018","doi":null,"url":null,"internal_url":"/proceedings/2018/681"},{"position":12,"raw":"[Krajník et al., 2017] Tomáš Krajník, Jaime P Fentanes, Joao M Santos, and Tom Duckett. Fremen: Frequency map enhancement for long-term mobile robot autonomy in changing environments. IEEE Transactions on Robotics, 33(4):964-977, 2017.","title":"Fremen: Frequency map enhancement for long-term mobile robot autonomy in changing environments","authors":"Krajník","year":"2017","venue":"IEEE Transactions on Robotics","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Meyer-Delius et al., 2012] Daniel Meyer-Delius, Jürgen Hess, Giorgio Grisetti, and Wolfram Burgard. Temporary maps for robust localization in semi-static environments. 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In IROS 2012, pages 5446-5447.","title":"CoBots: Collaborative robots servicing multi-floor buildings","authors":"Veloso","year":null,"venue":"IROS 2012","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}