thrun.icra_minerva

thrun.icra_minerva - MINERVA A Second-Generation Museum...

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Unformatted text preview: MINERVA: A Second-Generation Museum Tour-Guide Robot Sebastian Thrun , Maren Bennewitz , Wolfram Burgard , Armin B. Cremers , Frank Dellaert , Dieter Fox Dirk H¨ahnel , Charles Rosenberg , Nicholas Roy , Jamieson Schulte , Dirk Schulz School of Computer Science Computer Science Department III Carnegie Mellon University University of Bonn Pittsburgh, PA 15213 53117 Bonn, Germany Abstract This paper describes an interactive tour-guide robot, which was successfully exhibited in a Smithsonian museum. Dur- ing its two weeks of operation, the robot interacted with thousands of people, traversing more than 44 km at speeds of up to 163 cm/sec. Our approach specifically addresses issues such as safe navigation in unmodified and dynamic environments, and short-term human-robot interaction. It uses learning pervasively at all levels of the software archi- tecture. 1 Introduction This article describes Minerva, a mobile robot designed to educate and entertain people in public places. The robot’s purpose is to guide people through a museum, explaining what they see along the way. The robot was recently in- stalled successfully in the Smithsonian’s National Museum of American History, in an exhibition hosted by its Lemel- son Center for Invention and Innovation. During a two- week installation period in the summer of 1998, the robot successfully educated (and entertained) many thousand vis- itors. Minerva is controlled by a generic software approach for robot navigation and human robot interaction, which ad- dresses the following problems: Navigation in dynamic environments. Public places are often packed with people. People behave not nec- essarily cooperatively (many try to “break” the system). Our approach provides means for safe and effective nav- igation through crowds. Navigation in unmodified environments. No modifica- tion of the environment is necessary for the robot’s oper- ation. Instead the our software enables robots to adapt to their environments. Short-term human-robot interaction. Our software is specially designed to interact with people—or crowds of people—who have not been exposed to robots before. To appeal to people’s intuition, the robot’s interface uses patterns of interactions similar to those found when peo- ple interact with each other. Virtual tele-presence. A Web interface enables people around the world to monitor the robot, control its move- ment, and watch live images. high-level control and learning (mission planning, scheduling) human interaction modules (“emotional” FSA, Web interface) navigation modules (localization, map learning, path planning) hardware interface modules (motors, sensors, Internet) Table 1 : Minerva’s layered software architecture ....
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thrun.icra_minerva - MINERVA A Second-Generation Museum...

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