{"id":"https://openalex.org/W3162437656","doi":"https://doi.org/10.1109/ecmr50962.2021.9568838","title":"Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments","display_name":"Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments","publication_year":2021,"publication_date":"2021-08-01","ids":{"openalex":"https://openalex.org/W3162437656","doi":"https://doi.org/10.1109/ecmr50962.2021.9568838","mag":"3162437656"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr50962.2021.9568838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.03242","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044520206","display_name":"Marvin Stuede","orcid":"https://orcid.org/0000-0002-1719-5460"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]},{"id":"https://openalex.org/I4210133528","display_name":"Leibniz University of Applied Sciences","ror":"https://ror.org/03eqwj662","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210133528"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin Stuede","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","Leibniz University of Hanover,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Leibniz University of Hanover,","institution_ids":["https://openalex.org/I4210133528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012004601","display_name":"Konrad Westermann","orcid":"https://orcid.org/0000-0002-5271-5951"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konrad Westermann","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040515531","display_name":"Moritz Schappler","orcid":"https://orcid.org/0000-0001-7952-7363"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Schappler","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040648609","display_name":"Svenja Spindeldreier","orcid":"https://orcid.org/0000-0002-2473-0759"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Svenja Spindeldreier","raw_affiliation_strings":["Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems, Garbsen, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Leibniz University Hannover, Institute of Mechatronic Systems,Garbsen,Germany,D-30823","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05379068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7117736339569092},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.6648051738739014},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.6060695648193359},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5981810688972473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5756450891494751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5703404545783997},{"id":"https://openalex.org/keywords/license","display_name":"License","score":0.5568698048591614},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.46774011850357056},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.456306129693985},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43242383003234863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27740874886512756},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.1623745858669281},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1486126184463501},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.08126667141914368}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7117736339569092},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.6648051738739014},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.6060695648193359},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5981810688972473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5756450891494751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5703404545783997},{"id":"https://openalex.org/C2780560020","wikidata":"https://www.wikidata.org/wiki/Q79719","display_name":"License","level":2,"score":0.5568698048591614},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.46774011850357056},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.456306129693985},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43242383003234863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27740874886512756},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.1623745858669281},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1486126184463501},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.08126667141914368},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/ecmr50962.2021.9568838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr50962.2021.9568838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2105.03242","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.03242","pdf_url":"https://arxiv.org/pdf/2105.03242","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:repo.uni-hannover.de:123456789/15293","is_oa":true,"landing_page_url":"https://repo.uni-hannover.de/handle/123456789/15293","pdf_url":"https://repo.uni-hannover.de/bitstreams/c27080e7-b4e8-40bc-a694-aee75489695f/download","source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"doc-type:BookPart"},{"id":"mag:3162437656","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2105.03242","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:www.repo.uni-hannover.de:123456789/15293","is_oa":false,"landing_page_url":"https://www.repo.uni-hannover.de/handle/123456789/15293","pdf_url":null,"source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 European Conference on Mobile Robots (ECMR)","raw_type":"info:eu-repo/semantics/BookPart"},{"id":"doi:10.48550/arxiv.2105.03242","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.03242","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.15488/15174","is_oa":true,"landing_page_url":"https://doi.org/10.15488/15174","pdf_url":null,"source":{"id":"https://openalex.org/S7407052956","display_name":"Leibniz Universit\u00e4t Hannover","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.03242","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.03242","pdf_url":"https://arxiv.org/pdf/2105.03242","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322379","display_name":"Gottfried Wilhelm Leibniz Universit\u00e4t Hannover","ror":"https://ror.org/0304hq317"},{"id":"https://openalex.org/F4320334763","display_name":"Leibniz-Gemeinschaft","ror":"https://ror.org/01n6r0e97"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W57704277","https://openalex.org/W2032568497","https://openalex.org/W2120179083","https://openalex.org/W2123564449","https://openalex.org/W2154465690","https://openalex.org/W2161106660","https://openalex.org/W2260549038","https://openalex.org/W2267107524","https://openalex.org/W2341150500","https://openalex.org/W2406364024","https://openalex.org/W2411443472","https://openalex.org/W2548961765","https://openalex.org/W2565029242","https://openalex.org/W2739127893","https://openalex.org/W2753709704","https://openalex.org/W2773249613","https://openalex.org/W2783230551","https://openalex.org/W2796347433","https://openalex.org/W2807782124","https://openalex.org/W2898231767","https://openalex.org/W2899892350","https://openalex.org/W2980353055","https://openalex.org/W2990534361","https://openalex.org/W3003903490","https://openalex.org/W3089777376","https://openalex.org/W3100516791","https://openalex.org/W3124874748","https://openalex.org/W3196126078","https://openalex.org/W6678081342","https://openalex.org/W6678189424","https://openalex.org/W6683875831","https://openalex.org/W6737880431","https://openalex.org/W6747583900","https://openalex.org/W6750227808","https://openalex.org/W6784025480","https://openalex.org/W6791058820"],"related_works":["https://openalex.org/W3211175882","https://openalex.org/W2726275180","https://openalex.org/W2078138330","https://openalex.org/W2341150500","https://openalex.org/W2064520002","https://openalex.org/W1970971073","https://openalex.org/W2230422125","https://openalex.org/W1512268634","https://openalex.org/W2909175745","https://openalex.org/W2896671040","https://openalex.org/W2295894270","https://openalex.org/W2912188041","https://openalex.org/W2793324358","https://openalex.org/W1553037821","https://openalex.org/W613031071","https://openalex.org/W2972874943","https://openalex.org/W2170176125","https://openalex.org/W2346822357","https://openalex.org/W1899776333","https://openalex.org/W1496781980"],"abstract_inverted_index":{"Long-term":[0],"autonomy":[1],"in":[2,88,92,112,117,140],"service":[3,24],"robotics":[4],"is":[5,77],"a":[6,22,48,67,89,113,122,143],"current":[7],"research":[8],"topic,":[9],"especially":[10],"for":[11,31,50,81],"dynamic,":[12],"large-scale":[13],"environments":[14],"that":[15],"change":[16],"over":[17],"time.":[18],"We":[19,103],"present":[20],"Sobi,":[21],"mobile":[23],"robot":[25,44,120],"developed":[26],"as":[27,35,47,66],"an":[28,128],"interactive":[29],"guide":[30],"open":[32,69],"environments,":[33],"such":[34],"public":[36],"places":[37],"with":[38,127,146],"indoor":[39,115],"and":[40,53,59,153,169],"outdoor":[41],"areas.":[42],"The":[43],"will":[45],"serve":[46],"platform":[49],"environmental":[51],"modeling":[52],"human-robot":[54],"interaction.":[55],"Its":[56],"main":[57],"hardware":[58],"software":[60],"components,":[61],"which":[62,84,118,159],"we":[63,149],"freely":[64],"license":[65],"documented":[68],"source":[70],"project,":[71],"are":[72],"presented.":[73],"Another":[74],"key":[75],"focus":[76],"Sobi\u2019s":[78],"monitoring":[79],"system":[80,86,98],"long-term":[82,109],"autonomy,":[83],"restores":[85],"components":[87],"targeted":[90],"manner":[91],"order":[93],"to":[94,162],"extend":[95],"the":[96,108,119,151,156,167],"total":[97,123],"lifetime":[99],"without":[100],"unplanned":[101],"intervention.":[102],"demonstrate":[104],"first":[105],"results":[106],"of":[107,124,130,133,155],"autonomous":[110],"capabilities":[111],"16-day":[114],"deployment,":[116],"patrols":[121],"66.6":[125],"km":[126],"average":[129],"5.5":[131],"hours":[132],"travel":[134],"time":[135],"per":[136],"weekday,":[137],"charging":[138],"autonomously":[139],"between.":[141],"In":[142],"user":[144,157],"study":[145],"12":[147],"participants,":[148],"evaluate":[150],"appearance":[152],"usability":[154],"interface,":[158],"allows":[160],"users":[161],"interactively":[163],"query":[164],"information":[165],"about":[166],"environment":[168],"directions.":[170]},"counts_by_year":[],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
