Johnny: An Autonomous Service Robot for Domestic Environments
Thomas Breuer, Geovanny R. Giorgana Macedo, Ronny Hartanto, Nico Hochgeschwender, Dirk Holz, Frederik Hegger, Zha Jin, Christian Müller, Jan Paulus, Michael Reckhaus, José Antonio Álvarez Ruiz, Paul G. Plöger, Gerhard K. Kraetzschmar
In Journal of Intelligent & Robotic Systems, Springer Netherlands, volume o.A., pages 245-272, Apr/2012.
In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domesticservice robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in theRoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.
Domestic service robots · Semantic scene understanding · Human robot interaction