Not All Who Wander Are Lost: A Localization-Free System for In-The-Wild Mobile Robot Deployments
summary
A localization-free system uses Informed Direction Selection to let a Kuri traverse 1,200 ft of hallways on a 28,000 ft^2 floor for four days, running 32 hours and requiring about 30 minutes of helper time. The wandering module selects directions that minimize collisions while preserving heading and triggers recoveries on stalls; a chatbot-based human interaction module summons helpers for 12 charges and enables 4 manual rescues. Results show long deployments without mapping or extra sensors.
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