Under CopyrightPersiani, MicheleMichelePersianiHellström, ThomasThomasHellströmOdabasi, CagatayCagatayOdabasiGraf, FlorenzFlorenzGrafKalra, MohitMohitKalraGraf, BirgitBirgitGraf2022-03-1427.05.20212020https://publica.fraunhofer.de/handle/publica/40995610.24406/publica-fhg-4099562-s2.0-85101096683This paper describes ongoing work on the development of a service robot for serving drinks to people sitting at tables, for example in the recreation room of a care-house. The robot, denoted the Traveling Drinksman, should be able to detect the occupied tables, navigate safely according to defined policies, and interact with the humans sitting to serve them a drink. We present initial results addressing all of these problems with different sub-modules, including numerical results for the human detection module.enPflegeroboterServiceroboterAltenheimMensch-Roboter-Interaktion (MRI)conference paper