S. Thrun, M. Beetz, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Haehnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz

Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva

International Journal of Robotics Research, 2000


This paper describes Minerva, an interactive tour-guide robot that was successfully deployed in a Smithsonian museum. Minerva's software is pervasively probabilistic, relying on explicit representations of uncertainty in perception and control. This article describes Minerva's major software components, and provides a comparative analysis of the results obtained in the Smithsonian museum. During two weeks of highly successful operation, the robot interacted with thousands of people, both in the museum and through the Web, traversing more than 44km at speeds of up to 163 cm/sec in the unmodified museum.


Full paper [.ps.gz] (2923 kb, 39 pages)


  AUTHOR            = {Thrun, S. and Beetz, M. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Dellaert, F. and
                                         Fox, D. and Haehnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
  TITLE                  = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva},
  JOURNAL          = {International Journal of Robotics Research},
  YEAR                   = {2000},
  NOTE                   = {To appear}

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