文章基本信息

标题：Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
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作者：David Portugal ; André G Araújo ; Micael S Couceiro 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2021
卷号：18
期号：3
页码：1
DOI：10.1177/17298814211012181
出版社：SAGE Publications
摘要：To move out of the lab, service robots must reveal a proven robustness so they can be deployed in operational environments. This means that they should function steadily for long periods of time in real-world areas under uncertainty, without any human intervention, and exhibiting a mature technology readiness level. In this work, we describe an incremental methodology for the implementation of an innovative service robot, entirely developed from the outset, to monitor large indoor areas shared by humans and other obstacles. Focusing especially on the reliability of the fundamental localization system of the robot in the long term, we discuss all the incremental software and hardware features, design choices, and adjustments conducted, and show their impact on the performance of the robot in the real world, in three distinct 24-h long trials, with the ultimate goal of validating the proposed mobile robot solution for indoor monitoring.
关键词：Mobile robot design ; long-term robustness ; automatic monitoring ; robot localization
其他关键词：Mobile robot design ; long-term robustness ; automatic monitoring ; robot localization