Chung, Woojin Kim, Gunhee Kim, Munsang 2024-01-21T01:36:07Z 2024-01-21T01:36:07Z 2021-09-04 2007-01 0929-5593 https://pubs.kist.re.kr/handle/201004/134796 This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme. English SPRINGER Development of the multi-functional indoor service robot PSR systems Article 10.1007/s10514-006-9001-z 1 AUTONOMOUS ROBOTS, v.22, no.1, pp.1 - 17 AUTONOMOUS ROBOTS 22 1 1 17 scie scopus 000243348000001 2-s2.0-33847736327 Computer Science, Artificial Intelligence Robotics Computer Science Robotics Article service robots mobile manipulators control architecture system integration Petri nets mobile robot navigation localization door opening control passive trailers