Title :
Lessons learned from Xavier
Author :
Simmons, Reid ; Fernandez, Joaquin L. ; Goodwin, Richard ; Koenig, Sven ; Sullivan, Joseph O´
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
fDate :
6/1/2000 12:00:00 AM
Abstract :
We have been running an experiment in web-based interaction with an autonomous indoor mobile robot. The robot, called Xavier, can accept commands to travel to different offices in our building, broadcasting camera images as it travels. The experiment, which was originally designed to test a new navigation algorithm, has proven very successful. This article describes the autonomous robot system, the web-based interfaces, and how they communicate with the robot. It highlights lessons learned during this experiment in web-based robotics and includes recommendations for putting future mobile robots on the web
Keywords :
Internet; computerised navigation; interactive systems; mobile robots; telerobotics; Internet; Xavier; autonomous robots; interactive system; mobile robots; navigation; telerobotics; web-based control; Displays; Ethernet networks; Laser theory; Lighting control; Mobile robots; Optical control; Optical design; Path planning; Ring lasers; Torso;
Journal_Title :
Robotics & Automation Magazine, IEEE
