The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We present an autonomous multi-robot system that can collect objects from indoor environments and load them into a dishwasher rack. We discuss each component of the system in detail and highlight the perception, navigation, and manipulation algorithms employed.We present results from several public demonstrations, including one in which the system was run for several hours and interacted with several hundred people.

Keywords

mobile manipulation, motion planning, system architecture, navigation

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center, Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Planning and Autonomy Lab, Personal Robotics, Manipulation Lab, Human-Robot Interaction Group

Associated Project(s): Quality of Life Technology and Planning for Manipulation

Text Reference

Siddhartha Srinivasa, David Ferguson, J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat, "The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant," International Conference on Intelligent Autonomous Systems, July, 2008.

BibTeX Reference

@inproceedings{Srinivasa_2008_6080,
   author = "Siddhartha Srinivasa and David Ferguson and J Michael Vandeweghe and Rosen Diankov and Dmitry Berenson and Casey Helfrich and K=Hauke Strasdat",
   title = "The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant",
   booktitle = "International Conference on Intelligent Autonomous Systems",
   month = "July",
   year = "2008",
}

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