Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach

Detalhes bibliográficos
Autor(a) principal: Portugal, David
Data de Publicação: 2021
Outros Autores: Araújo, André G, Couceiro, Micael Santos
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/101214
https://doi.org/10.1177/17298814211012181
Resumo: 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.
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spelling Improving the robustness of a service robot for continuous indoor monitoring: An incremental approachMobile robot designlong-term robustnessautomatic monitoringrobot localizationTo 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.2021info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/101214http://hdl.handle.net/10316/101214https://doi.org/10.1177/17298814211012181eng1729-88141729-8814Portugal, DavidAraújo, André GCouceiro, Micael Santosinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2022-08-17T23:02:12Zoai:estudogeral.uc.pt:10316/101214Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T21:18:27.412119Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
title Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
spellingShingle Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
Portugal, David
Mobile robot design
long-term robustness
automatic monitoring
robot localization
title_short Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
title_full Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
title_fullStr Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
title_full_unstemmed Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
title_sort Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
author Portugal, David
author_facet Portugal, David
Araújo, André G
Couceiro, Micael Santos
author_role author
author2 Araújo, André G
Couceiro, Micael Santos
author2_role author
author
dc.contributor.author.fl_str_mv Portugal, David
Araújo, André G
Couceiro, Micael Santos
dc.subject.por.fl_str_mv Mobile robot design
long-term robustness
automatic monitoring
robot localization
topic Mobile robot design
long-term robustness
automatic monitoring
robot localization
description 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.
publishDate 2021
dc.date.none.fl_str_mv 2021
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/101214
http://hdl.handle.net/10316/101214
https://doi.org/10.1177/17298814211012181
url http://hdl.handle.net/10316/101214
https://doi.org/10.1177/17298814211012181
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1729-8814
1729-8814
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
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instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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