This paper presents a software architecture for robots providing manipulation services
autonomously in human environments. In an unstructured human environment, a service …

Although the mobile manipulation capability is crucial for a service robot to perform physical
work without human support, the long-term autonomous operation of such a mobile …

In recent years, home service robots have gained attention due to the growing aging society
around the world. Furniture recognition and handling are essential for home service robots …

Abstract The Short to Medium Range Autonomous Delivery System (SMADS) is a case study
on developing a software stack that allows customers to request deliveries via autonomous …

UT Austin Villa has participated in six RoboCup@ Home competitions, performing
respectably in each. What is more exciting, however, is that we have begun a strong …

This paper describes a light-weight method for hand-waving gesture detection. Gesture
recognition is actively researched as a user interface of robots. Conventional gesture …

This thesis develops a series of modeling and reasoning tools for knowledge-oriented
manipulation planning in semi/unstructured environments. The main idea is to use high …

UT Austin Villa has participated in five RoboCup@ Home competitions, performing
respectably in each. What is more exciting, however, is that we have begun a strong …

This thesis presents the software stack that is the Short to Medium Autonomous Delivery
System (SMADS), a framework developed as a team effort that enables autonomous …

This thesis focuses on developing software for mobile robots which enables these platforms
to perform household tasks. A set of tasks was proposed by the RoboCup Federation for the …