As autonomous cleaning robots advance, we expect certain features, such as higher area coverage and robustness. To explore these features and their challenges, we need tools and strategies that allow us to develop them rapidly. In this paper, we present lessons learned and results while performing 3 months long field trials on the autonomy of a self-reconfigurable floor-cleaning robot. The autonomy here includes path planning and navigation of the robot for coverage in a public food court. The environment of the food court is often subjected to alterations due to human activities. One of the main contributions of this paper is proposing a task-level execution system to deploy the cleaning robot in an actual use case scenario. We also provide in-depth discussions on the solutions and the implementation strategies we found in accomplishing goals. These findings would be helpful in conducting autonomy development targeted for field deployments of self-reconfigurable robots and cleaning robots.

中文翻译：

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公共美食广场自重构地板清洁机器人自主试验的见解

随着自主清洁机器人的进步，我们期望具有某些功能，例如更高的区域覆盖范围和鲁棒性。为了探索这些功能及其挑战，我们需要能够快速开发它们的工具和策略。在本文中，我们介绍了在对自重构地板清洁机器人的自主性进行为期 3 个月的现场试验时获得的经验教训和结果。这里的自主性包括机器人的路径规划和导航，以覆盖公共美食广场。美食广场的环境经常因人类活动而发生改变。本文的主要贡献之一是提出了一种任务级执行系统，以在实际用例场景中部署清洁机器人。我们还对我们在实现目标时找到的解决方案和实施策略进行了深入的讨论。这些发现将有助于针对自重构机器人和清洁机器人的现场部署进行自主开发。