Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 19, Issue 11, Pages 972-999Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/02783640022067922
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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. During 2 weeks of operation, the robot interacted with thousands of people, both in the museum and through the Web, traversing more than 44 km at speeds of up to 163 cm/sec in the unmodified museum.
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