|N. Roy, S. Thrun, J. Schulte, M. Beetz , D. Schulz, M Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D Fox, D. Hähnel and C. Rosenberg
| This paper describes Minerva, an interactive tour-guide robot that was successfully deployed in a Smithsonian museum. Minerva's software is pervasively probabilistic, relying on explicit representations of uncertainty in perception and control. During two weeks of operation, the robot interacted with thousands of people, both in the museum and through the Web, traversing more than 44 km at speeds of up to 163 cm/sec in the unmodified museum.