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Evaluating the Roomba: A low-cost, ubiquitous platform for robotics research and education

TitleEvaluating the Roomba: A low-cost, ubiquitous platform for robotics research and education
Publication TypeConference Paper
Year of Publication2007
AuthorsTribelhorn, B., and Z. Dodds
Conference Name2007 IEEE International Conference on Robotics and Automation
Pagination1393 - 1399
Date Published04/2007
PublisherIEEE
Conference LocationRome, Italy
ISBN Number1-4244-0601-3
Abstract

This paper presents the iRobot corporation's Roomba vacuum as a low-cost resource for robotics research and education. Sensor and actuation models for unmodified Roombas are presented in the context of both special- and general-purpose spatial-reasoning algorithms, including Monte Carlo Localization and FastSLAM. Further tests probe the feasibility of sensor extensions to the platform. Results demonstrate that, with some caveats, the Roomba is a viable foundation for both classroom and laboratory use, especially for work seeking to leverage robots to other ends, as well as robotics per se with a computational focus.

DOI10.1109/ROBOT.2007.363179