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Title: Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach
Authors: Portugal, David 
Araújo, André G
Couceiro, Micael Santos 
Keywords: Mobile robot design; long-term robustness; automatic monitoring; robot localization
Issue Date: 2021
Project: STOP: Seguranças robóTicos coOPerativos (Cooperative Robotic Securities) research project funded by “Agˆencia Nacional de Inovac¸a˜o” (National Innovation Agency) under the Portugal 2020 Program with reference CENTRO-01-0247-FEDER-017562. 
Serial title, monograph or event: International Journal of Advanced Robotic Systems
Volume: 18
Issue: 3
Abstract: 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.
ISSN: 1729-8814
DOI: 10.1177/17298814211012181
Rights: openAccess
Appears in Collections:I&D ISR - Artigos em Revistas Internacionais

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