The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant

Siddhartha Srinivasa, David Ferguson , J Michael Vandeweghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, and K=Hauke Strasdat
International Conference on Intelligent Autonomous Systems, July, 2008.


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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",
}