Johnny: An Autonomous Service Robot for Domestic Environments
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