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Breuer, Thomas; Giorgana Macedo, Geovanny R.; Hartanto, Ronny; Hochgeschwender, Nico; Holz, Dirk; Hegger, Frederik; Jin, Zha; Müller, Christian; Paulus, Jan; Reckhaus, Michael; Álvarez Ruiz, José Antonio; Plöger, Paul G.; Kraetzschmar, Gerhard K.
Journal of intelligent & robotic systems, 04/2012, Volume: 66, Issue: 1-2Journal Article
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.
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