CoBots: Robust Symbiotic Autonomous Mobile Service Robots
CoBots: Robust Symbiotic Autonomous Mobile Service Robots
复制标题
CoBots：强大的共生自主移动服务机器人
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Stephanie Rosenthal
中科院分区：
文献类型：
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作者：
M. Veloso;Joydeep Biswas;B. Coltin;Stephanie Rosenthal
我们研究和开发自主移动服务机器人作为协作机器人，即配备机器人。在过去的三年中，由于多个感知，认知和驱动表征和算法的整合，我们的四个配件在我们的多层办公楼中自主航行了超过1,000公里。在本文中，我们确定了柯伯特的一些核心方面，这些方面是它们强大的功能。在不同的室内环境中的可靠移动性来自一种新型的情节非马尔科夫本地化。用户请求的服务任务是调度程序的输入，该输入可以考虑不同类型的约束，包括在多个机器人之间进行转移。凭借共生的自主权，柯机器人主动寻求外部帮助来源，以填补其不可避免的偶尔局限性。我们提供了部署的采样结果，并简要审查了我们服务机器人的其他功能。
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.