The Autonomous Custodial Architecture (ACA) is a custodial robotics control and data management framework that will showcase a prototype autonomous office space custodial system. The ACA will ultimately utilize a team of custodial robots to empty trash cans, vacuum, mop, dust, and perform other custodial tasks as required by the custodial clients. In the architecture outlined in this proposal, Service Robotics & Technologies (SRT) is utilizing a KUKA youBot as a primary custodial robot with the responsibility to autonomously navigate an office environment, locate the trash cans within the office space, pick up the trash can, and empty it into a trash receptacle on the youBot prior to continuing on to the next office. This system is also designed to service supporting custodial robotic vacuum systems (built around the iRobot Create mobility platform in this demonstration) by emptying their bins when full and leading the team of vacuuming robots through the office space to provide a complete office cleaning solution.
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