W. Burgard, A.B. Cremers, D. Fox, D. Hähnel,
G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun
Experiences with an Interactive Museum Tour-Guide Robot
Artificial Intelligence
Abstract
This article describes the software architecture of an
autonomous, interactive tour-guide robot. It presents a modular,
distributed software architecture, which integrates localization,
mapping, collision avoidance, planning, and various modules concerned
with user interaction. The approach does not require any modifications
to the environment. To cope with the various challenges in dynamic and
ill-structured environments, the software relies on probabilistic
computation, on-line learning, any-time algorithms, and distributed
control. Special emphasis has been placed on the design of interactive
capabilities that appeal to people's intuition. In mid-1997, the robot
was successfully deployed in a densely populated museum, demonstrating
reliable operation in hazardous public environments, and raising the
museum's attendance by more than 50%. In addition, people all over
the world controlled the robot through the Web.
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Bibtex
@Article{Bur00Exp,
AUTHOR
= {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and
Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
TITLE
= {Experiences with an Interactive Museum Tour-Guide Robot},
JOURNAL =
{Artificial Intelligence},
VOLUME
= {114},
NUMBER
= {1-2},
YEAR
= {2000}
}
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