To move out of the lab, service robots must reveal a proven robustness so they can be deployed in operational environments. This means that they should function steadily for long periods of time in real-world areas under uncertainty, without any human intervention, and exhibiting a mature technology readiness level. In this work, we describe an incremental methodology for the implementation of an innovative service robot, entirely developed from the outset, to monitor large indoor areas shared by humans and other obstacles. Focusing especially on the reliability of the fundamental localization system of the robot in the long term, we discuss all the incremental software and hardware features, design choices, and adjustments conducted, and show their impact on the performance of the robot in the real world, in three distinct 24-h long trials, with the ultimate goal of validating the proposed mobile robot solution for indoor monitoring.

要移出实验室，服务机器人必须展现出可靠的可靠性，以便可以将其部署在运营环境中。这意味着它们应在不确定的现实世界区域中长时间稳定运行，无需任何人工干预，并具有成熟的技术准备水平。在这项工作中，我们描述了一种从一开始就完全开发的，用于实施创新服务机器人的增量方法，以监视人类和其他障碍物共享的大型室内区域。从长远来看，我们特别关注机器人基本定位系统的可靠性，我们讨论了所有增量软件和硬件功能，设计选择和进行的调整，并展示了它们对机器人在现实世界中的性能的影响，在三个不同的24小时长期试验中，