Robust and computationally efficient navigation in domestic environments

Presented in this paper is a complete system for robust autonomous navigation in cluttered and dynamic environments. It consists of computationally efficient approaches to the problems of simultaneous localization and mapping, path planning, and motion control, all based on a memory-efficient environment representation. These components have been implemented and integrated with additional components for human-robot interaction and ob ject manipulation on a mobile manipulation platform for service robot applications. The resulting system performed very successfully in the 2008 RoboCup@Home competition.