DERVISH An Office-Navigating Robot

Abstract

DERVISH won the Office Delivery event of the 1994 Robot Competition and Exhibition, held as part of the Thirteenth National Conferennce on Artificial Intelligence. Although the contest required dervish to navigate in an artificial office environment, the official goal of the contest was to push the technology of robot navigation in real office buildings with minimal domain information. dervish navigates reliably using retractable assumptions that simplify the planning problem. In this article, we present a short description of Dervish's hardware and low-level motion modules. We then discuss this assumptive system in more detail.