Design and Implementation of a Service Robot for a Restaurant

This paper presents a highly specialized autonomous robot. The task of the robot is the setting and clearing of tables in a controlled environment. The environment in which the robot will operate, that emulates a restaurant, will be controlled and well known. The first objective of the robot is to navigate around the room to find collectable sites, that is, tables. Once the robot has located a table, its task consists of collecting the different objects located on that table. The robot is designed to identify and collect the following objects: dishes, bottles, glasses, forks, spoons, and knives.