Towards autonomous robotic butlers: Lessons learned with the PR2

As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements for human interfacing, and metrics...