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The International Journal of Robotics Research
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Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva

S. Thrun

School of Computer Science, Carnegie Mellon University, Pittsburgh, PA

M. Beetz

Computer Science Dept., University of Freiburg, Freiburg, Germany

M. Bennewitz

W. Burgard

Computer Science Dept. III, University of Bonn, Bonn, Germany

A. B. Cremers

Computer Science Dept., University of Freiburg, Freiburg, Germany

F. Dellaert

D. Fox

School of Computer Science, Carnegie Mellon University, Pittsburgh, PA

D. Hähnel

Computer Science Dept. III, University of Bonn, Bonn, Germany

C. Rosenberg

N. Roy

J. Schulte

School of Computer Science, Carnegie Mellon University, Pittsburgh, PA

D. Schulz

Computer Science Dept., University of Freiburg, Freiburg, Germany

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.

The International Journal of Robotics Research, Vol. 19, No. 11, 972-999 (2000)
DOI: 10.1177/02783640022067922
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