Carnegie Mellon University

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

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journal contribution
posted on 2008-07-01, 00:00 authored by Siddhartha SrinivasaSiddhartha Srinivasa, David I. Ferguson, Mike Vande Weghe, Rosen Diankov, Dmitry Berenson, Casey Helfrich, Hauke Strasdat

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.




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