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Robotics and Autonomous Systems 42 (2003) 203222 Robox at Expo.02: A large-scale installation of personal robots

Summary: Robotics and Autonomous Systems 42 (2003) 203­222
Robox at Expo.02: A large-scale installation of personal robots
Roland Siegwart, Kai O. Arras, Samir Bouabdallah, Daniel Burnier,
Gilles Froidevaux, Xavier Greppin, Björn Jensen, Antoine Lorotte,
Laetitia Mayor, Mathieu Meisser, Roland Philippsen, Ralph Piguet,
Guy Ramel, Gregoire Terrien, Nicola Tomatis
Autonomous Systems Lab, Swiss Federal Institute of Technology Lausanne (EPFL), CH-1015 Lausanne, Switzerland
In this paper we present Robox, a mobile robot designed for operation in a mass exhibition and the experience we made
with its installation at the Swiss National Exhibition Expo.02. Robox is a fully autonomous mobile platform with unique
multi-modal interaction capabilities, a novel approach to global localization using multiple Gaussian hypotheses, and a
powerful obstacle avoidance. Eleven Robox ran for 12 hours daily from May 15 to October 20, 2002, traveling more than
3315 km and interacting with 686,000 visitors.
© 2003 Elsevier Science B.V. All rights reserved.
Keywords: Personal and service robot; Global localization; Obstacle avoidance; Human­robot interaction; Long-term experience; Tour-guide
1. Introduction
In this paper we adopt an experimental view of the
problem. After the problem specification of mass ex-
hibitions, we briefly present issues regarding mechan-


Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg


Collections: Computer Technologies and Information Sciences