Paper Info
Title
Johnny: An Autonomous Service Robot for Domestic Environments
Abstract
In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.
Year
DOI
Venue
2012
10.1007/s10846-011-9608-y
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
Domestic service robots,Semantic scene understanding,Human robot interaction
Architecture,Control engineering,Human–computer interaction,Artificial intelligence,Engineering,Software architecture,Human–robot interaction,Service robot
Journal
Volume
Issue
ISSN
66
1-2
0921-0296
Citations 
PageRank 
References 
16
0.86
52
Authors
13
Name
Order
Citations
PageRank
Thomas Breuer1160.86
Geovanny R. Giorgana Macedo2160.86
Ronny Hartanto3546.12
Nico Hochgeschwender412615.75
Dirk Holz536925.04
Frederik Hegger6302.86
Zha Jin7160.86
Christian Müller8160.86
Jan Paulus9160.86
Michael Reckhaus10181.33
José Antonio Álvarez Ruiz11191.58
Paul G. Plöger12252.66
Gerhard K. Kraetzschmar1347465.88