NDLI: Towards autonomous robotic butlers: Lessons learned with the PR2

Content Provider	IEEE Xplore Digital Library
Author	Bohren, J. Rusu, R.B. Jones, E.G. Marder-Eppstein, E. Pantofaru, C. Wise, M. Mosenlechner, L. Meeussen, W. Holzer, S.
Copyright Year	2011
Description	Author affiliation: Willow Garage, 68 Willow Rd., Menlo Park, CA 94025, USA (Bohren, J.; Rusu, R.B.; Jones, E.G.; Marder-Eppstein, E.; Pantofaru, C.; Wise, M.; Mosenlechner, L.; Meeussen, W.; Holzer, S.)
Abstract	As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements for human interfacing, and metrics for successful completion. In this paper we present our experiences and results while building an autonomous robotic assistant using the $PR2^{1}$ platform and ROS2. The system integrates several new components that are built on top of the PR2's current capabilities. Perception components include dynamic obstacle identification, mechanisms for identifying the refrigerator, types of drinks, and human faces. Planning components include navigation, arm motion planning with goal and path constraints, and grasping modules. One of the main contributions of this paper is a new task-level executive system, SMACH, based on hierarchical concurrent state machines, which controls the overall behavior of the system. We provide in-depth discussions on the solutions that we found in accomplishing our goal, and the implementation strategies that let us achieve them.
Starting Page	5568
Ending Page	5575
File Size	1861878
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980058
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Planning Navigation Cameras Grasping Three dimensional displays
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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