An intelligent service system with multiple robots∗

This document describes an on-going multi-robot project, an intelligent bartender-waiter robot system in which a team of different robots serves people in a bar. In this system, KeJia robot plays the role of bartender who recognizes and grasps the drink by following the order of people and gives it to a TurtleBot, several TurtleBots deliver drinks to people as waiters. By developing this system, we studied the coordination of multiple different robots, i.e. the ability of dealing with multiple heterogeneous robot, the interaction between humans with a team of robots and the intelligent decision system for task allocation. The long aim of this project is developing a highly intelligent cooperative multi-robot system which can operate in a variety of complex applications at high success rates.