S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Haehnel, C. Rosenberg, N. Roy, J.Schulte, and D.Schulz

Probabilistic Algorithms andthe Interactive Museum Tour-Guide Robot Minerva

Journal of Robotics Research


 

Abstract

This paper describes Minerva, an interactive tour-guiderobot that was successfully deployed in a Smithsonianmuseum. Minerva's software is pervasively probabilistic, relying onexplicit representations of uncertainty in perception andcontrol. This article describes Minerva's major software components,and provides a comparative analysis of the results obtained in theSmithsonian museum. During two weeks of highly successful operation,the robot interacted with thousands of people, both in the museum andthrough the Web, traversing more than 44km at speeds of up to 163cm/sec in the unmodified museum.

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Bibtex

@INPROCEEDINGS{Thrun00Minerva,
   AUTHOR  = {Thrun,S. and Beetz,M. and Bennewitz,M. andBurgard,W. and Cremers,A.B. and Dellaert,F. and Fox,D. and Haehnel,D. andRosenberg,C. and Roy,N. and Schulte,J. and Schulz,D.},
  TITLE   = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot {M}inerva},
  JOURNAL = {Journalof Robotics Research},
  VOLUME = 19,
  NUMBER = 11,
  YEAR = 2000,
}