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 anautonomous, interactive
tour-guide robot. It presents a modular,distributed software architecture,
which integrates localization,mapping, collision avoidance, planning, and
various modules concernedwith user interaction. The approach does not require
any modificationsto the environment. To cope with the various challengesin
dynamic andill-structured environments, the software relies on probabilistic
computation, on-line learning, any-time algorithms, and distributedcontrol.
Special emphasis has been placed on the design of interactivecapabilities
that appeal to people's intuition. In mid-1997, the robotwas successfully
deployed in a densely populated museum, demonstratingreliable operation in
hazardous public environments, and raising themuseum's attendance by more
than 50%. In addition, people all overthe 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 = {ArtificialIntelligence},
VOLUME = {114},
NUMBER = {1-2},
YEAR = {2000}
}