{"id":"https://openalex.org/W2153000379","doi":"https://doi.org/10.1109/icra.2011.5980058","title":"Towards autonomous robotic butlers: Lessons learned with the PR2","display_name":"Towards autonomous robotic butlers: Lessons learned with the PR2","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2153000379","doi":"https://doi.org/10.1109/icra.2011.5980058","mag":"2153000379"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102788067","display_name":"Jonathan Bohren","orcid":"https://orcid.org/0000-0003-4568-6352"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Bohren","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112225953","display_name":"Radu Bogdan Rusu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radu Bogdan Rusu","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020675370","display_name":"E. Gil Jones","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Gil Jones","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051251517","display_name":"Eitan Marder-Eppstein","orcid":"https://orcid.org/0000-0003-0940-7117"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eitan Marder-Eppstein","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065761531","display_name":"Caroline Pantofaru","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caroline Pantofaru","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006379516","display_name":"Melonee Wise","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melonee Wise","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055732705","display_name":"Lorenz M\u00f6senlechner","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lorenz Mosenlechner","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000426585","display_name":"Wim Meeussen","orcid":"https://orcid.org/0000-0003-1905-4001"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wim Meeussen","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102905558","display_name":"Stefan M. Holzer","orcid":"https://orcid.org/0009-0005-5894-9504"},"institutions":[{"id":"https://openalex.org/I4210117999","display_name":"Willow Wood (United States)","ror":"https://ror.org/02hrkdj18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117999"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Holzer","raw_affiliation_strings":["Willow Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Willow Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210117999"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.2718,"has_fulltext":false,"cited_by_count":246,"citation_normalized_percentile":{"value":0.99455625,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5568","last_page":"5575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/interfacing","display_name":"Interfacing","score":0.7486691474914551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6959347128868103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5560316443443298},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5506552457809448},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5217974185943604},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5212610363960266},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5167524218559265},{"id":"https://openalex.org/keywords/autonomous-robot","display_name":"Autonomous robot","score":0.5074185729026794},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.4757906198501587},{"id":"https://openalex.org/keywords/autonomous-system","display_name":"Autonomous system (mathematics)","score":0.4610525667667389},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45742782950401306},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4401080310344696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41454213857650757},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.41114968061447144},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3242166042327881},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.14191049337387085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1365446150302887}],"concepts":[{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.7486691474914551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6959347128868103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5560316443443298},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5506552457809448},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5217974185943604},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5212610363960266},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5167524218559265},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.5074185729026794},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.4757906198501587},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.4610525667667389},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45742782950401306},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4401080310344696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41454213857650757},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41114968061447144},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3242166042327881},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.14191049337387085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1365446150302887},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515273089","https://openalex.org/W1520661278","https://openalex.org/W1553568594","https://openalex.org/W1627400044","https://openalex.org/W1801681393","https://openalex.org/W1955456954","https://openalex.org/W1972267259","https://openalex.org/W2016505519","https://openalex.org/W2099529102","https://openalex.org/W2107634464","https://openalex.org/W2125880285","https://openalex.org/W2128319160","https://openalex.org/W2136354320","https://openalex.org/W2151103935","https://openalex.org/W2540104143","https://openalex.org/W2542314425","https://openalex.org/W2910935110","https://openalex.org/W3028868262","https://openalex.org/W6630873589","https://openalex.org/W6631036470","https://openalex.org/W6636759986","https://openalex.org/W6638447542","https://openalex.org/W6640669356","https://openalex.org/W6778065096"],"related_works":["https://openalex.org/W4312997448","https://openalex.org/W2901114572","https://openalex.org/W2792662790","https://openalex.org/W4400617744","https://openalex.org/W2042859880","https://openalex.org/W4390297726","https://openalex.org/W2158014010","https://openalex.org/W4399892402","https://openalex.org/W4381059727","https://openalex.org/W2158539623"],"abstract_inverted_index":{"As":[0],"autonomous":[1,80],"personal":[2],"robots":[3],"come":[4],"of":[5,18,103,120,141,145,166],"age,":[6],"we":[7,31,71,177],"expect":[8],"certain":[9],"applications":[10,27],"to":[11,24,39],"be":[12],"executed":[13],"with":[14,54,132],"a":[15,149],"high":[16],"degree":[17],"repeatability":[19],"and":[20,28,34,48,63,75,90,122,134,137,183],"robustness.":[21],"In":[22,68],"order":[23],"explore":[25],"these":[26],"their":[29],"challenges,":[30],"need":[32],"tools":[33],"strategies":[35,186],"that":[36,98,176,187],"allow":[37],"us":[38,189],"develop":[40],"them":[41],"rapidly.":[42],"Serving":[43],"drinks":[44],"(i.e.,":[45],"locating,":[46],"fetching,":[47],"delivering),":[49],"is":[50,148],"one":[51],"such":[52],"application":[53],"well-defined":[55],"environments":[56],"for":[57,60,65,115],"operation,":[58],"requirements":[59],"human":[61,123],"interfacing,":[62],"metrics":[64],"successful":[66],"completion.":[67],"this":[69,146],"paper":[70,147],"present":[72],"our":[73,181],"experiences":[74],"results":[76],"while":[77],"building":[78],"an":[79],"robotic":[81],"assistant":[82],"using":[83],"the":[84,104,117,142,163,167,174,184],"PR2":[85],"<sup":[86],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[87],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[88],"platform":[89],"ROS2.":[91],"The":[92],"system":[93],"integrates":[94],"several":[95],"new":[96,150],"components":[97,109,126],"are":[99],"built":[100],"on":[101,156,173],"top":[102],"PR2's":[105],"current":[106],"capabilities.":[107],"Perception":[108],"include":[110,127],"dynamic":[111],"obstacle":[112],"identification,":[113],"mechanisms":[114],"identifying":[116],"refrigerator,":[118],"types":[119],"drinks,":[121],"faces.":[124],"Planning":[125],"navigation,":[128],"arm":[129],"motion":[130],"planning":[131],"goal":[133],"path":[135],"constraints,":[136],"grasping":[138],"modules.":[139],"One":[140],"main":[143],"contributions":[144],"task-level":[151],"executive":[152],"system,":[153],"SMACH,":[154],"based":[155],"hierarchical":[157],"concurrent":[158],"state":[159],"machines,":[160],"which":[161],"controls":[162],"overall":[164],"behavior":[165],"system.":[168],"We":[169],"provide":[170],"in-depth":[171],"discussions":[172],"solutions":[175],"found":[178],"in":[179],"accomplishing":[180],"goal,":[182],"implementation":[185],"let":[188],"achieve":[190],"them.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":19},{"year":2014,"cited_by_count":27},{"year":2013,"cited_by_count":23},{"year":2012,"cited_by_count":16}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
