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Sebastian Thrun, Michael Beetz, Maren Bennewitz, Armin Cremers, Frank Dellaert, Dieter Fox, Dirk Hähnel, Charles Rosenberg, Nicholas Roy, Jamieson Schulte, and Dirk Schulz. Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. International Journal of Robotics Research, 2000.
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Abstract
This paper describes Minerva, an interactive tour-guide robot that was successful ly deployed in a Smithsonian museum. Minerva's software is pervasively probabilistic, relying on explicit representations of uncertainty in perception and control. This article describes Minerva's major software components, and provides a comparative analysis of the results obtained in the Smithsonian museum. During two weeks of highly successful operation, the robot interacted with thousands of people, both in the museum and through the Web, traversing more than 44km at speeds of up to 163 cm/sec in the unmodified museum.
BibTeX Entry
@Article{Thr00Prob,
author = {Sebastian Thrun and Michael Beetz and Maren Bennewitz and Armin Cremers and Frank Dellaert
and Dieter Fox and Dirk H{\"a}hnel and Charles Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz},
title = "Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot {M}inerva",
journal = "International Journal of Robotics Research",
year = "2000",
bib2html_pubtype = {Journal},
bib2html_rescat = {Plan-based Robot Control, State Estimation},
bib2html_groups = {IAS},
bib2html_funding = {ignore},
bib2html_keywords = {Robot, Planning},
abstract = {This paper describes Minerva, an interactive tour-guide robot that was successful ly deployed in a
Smithsonian museum. Minerva's software is pervasively probabilistic, relying on explicit
representations of uncertainty in perception and control. This article describes Minerva's major
software components, and provides a comparative analysis of the results obtained in the Smithsonian
museum. During two weeks of highly successful operation, the robot interacted with thousands of
people, both in the museum and through the Web, traversing more than 44km at speeds of up to
163 cm/sec in the unmodified museum.}
}
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