SERVIROB: a mobile robot for restoration

In this paper a highly specialized autonomous robot is presented. The task of the robot is the setting and clearing of tables in a restaurant. The environment in which the robot will operate 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 taks consists of analyzing the scene and extracting all the necessary information to collect the distinct objects located on it. The application is designed to identify and collect the following objects: dishes, bottles, glasses, forks, spoons, and knives.