The STRANDS Project Long-Term Autonomy in Everyday Environments
The STRANDS Project Long-Term Autonomy in Everyday Environments
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DOI：
10.1109/mra.2016.2636359
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发表时间：
2017-09-01
影响因子：
5.7
通讯作者：
Hanheide, Marc
中科院分区：
文献类型：
--
作者：
Hawes, Nick;Burbridge, Chris;Hanheide, Marc
由于机器人和自主系统社区的努力，机器人的无数应用和能力正在不断增加。最终用户对能够在真实环境中长时间运行的自主服务机器人的需求不断增加。在长期场景中认知控制的时空表示和活动 (STRANDS) 项目 (http://strandsproject.eu) 中，我们通过将最先进的人工智能和机器人研究集成到移动服务机器人中，并将这些系统部署在安全和护理环境中长期安装，来迎头解决这一需求。我们的机器人已在四次部署中累计运行了 104 天，自主执行最终用户定义的任务，在此过程中行驶了 116 公里。在本文中，我们描述了用于在日常环境中实现长期自主操作的方法，以及我们的机器人如何利用其长时间运行时间来提高自身性能。
Thanks to the efforts of the robotics and autonomous systems community, the myriad applications and capacities of robots are ever increasing. There is increasing demand from end users for autonomous service robots that can operate in real environments for extended periods. In the Spatiotemporal Representations and Activities for Cognitive Control in Long-Term Scenarios (STRANDS) project (http://strandsproject.eu), we are tackling this demand head-on by integrating state-of-the-art artificial intelligence and robotics research into mobile service robots and deploying these systems for long-term installations in security and care environments. Our robots have been operational for a combined duration of 104 days over four deployments, autonomously performing end-user-defined tasks and traversing 116 km in the process. In this article, we describe the approach we used to enable long-term autonomous operation in everyday environments and how our robots are able to use their long run times to improve their own performance.