Development of the multi-functional indoor service robot PSR systems

Woo Jin Chung, Gunhee Kim, Munsang Kim

Research output: Contribution to journalArticle

26 Citations (Scopus)

Abstract

This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.

Original languageEnglish
Pages (from-to)1-17
Number of pages17
JournalAutonomous Robots
Volume22
Issue number1
DOIs
Publication statusPublished - 2007 Jan 1

Fingerprint

Robots
Manipulators
Intelligent agents
Cleaning

Keywords

  • Control architecture
  • Door opening control
  • Localization
  • Mobile manipulators
  • Mobile robot navigation
  • Passive trailers
  • Petri nets
  • Service robots
  • System integration

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

Cite this

Development of the multi-functional indoor service robot PSR systems. / Chung, Woo Jin; Kim, Gunhee; Kim, Munsang.

In: Autonomous Robots, Vol. 22, No. 1, 01.01.2007, p. 1-17.

Research output: Contribution to journalArticle

Chung, Woo Jin ; Kim, Gunhee ; Kim, Munsang. / Development of the multi-functional indoor service robot PSR systems. In: Autonomous Robots. 2007 ; Vol. 22, No. 1. pp. 1-17.
@article{9afed6a0b49a4b19a2b6bebeaaf6c4c3,
title = "Development of the multi-functional indoor service robot PSR systems",
abstract = "This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.",
keywords = "Control architecture, Door opening control, Localization, Mobile manipulators, Mobile robot navigation, Passive trailers, Petri nets, Service robots, System integration",
author = "Chung, {Woo Jin} and Gunhee Kim and Munsang Kim",
year = "2007",
month = "1",
day = "1",
doi = "10.1007/s10514-006-9001-z",
language = "English",
volume = "22",
pages = "1--17",
journal = "Autonomous Robots",
issn = "0929-5593",
publisher = "Springer Netherlands",
number = "1",

}

TY - JOUR

T1 - Development of the multi-functional indoor service robot PSR systems

AU - Chung, Woo Jin

AU - Kim, Gunhee

AU - Kim, Munsang

PY - 2007/1/1

Y1 - 2007/1/1

N2 - This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.

AB - This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.

KW - Control architecture

KW - Door opening control

KW - Localization

KW - Mobile manipulators

KW - Mobile robot navigation

KW - Passive trailers

KW - Petri nets

KW - Service robots

KW - System integration

UR - http://www.scopus.com/inward/record.url?scp=33847736327&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33847736327&partnerID=8YFLogxK

U2 - 10.1007/s10514-006-9001-z

DO - 10.1007/s10514-006-9001-z

M3 - Article

VL - 22

SP - 1

EP - 17

JO - Autonomous Robots

JF - Autonomous Robots

SN - 0929-5593

IS - 1

ER -