Development of the multi-functional indoor service robot PSR systems

Woojin Chung, Gunhee Kim, Munsang Kim

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


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
Issue number1
Publication statusPublished - 2007 Jan


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

ASJC Scopus subject areas

  • Artificial Intelligence


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