Qutie -: an interactive mobile robot

This paper describes Qutie, an interactive mobile robot. The robot provides a base for developing different methods of human-machine interaction and robot control. Three research specialties have contributed to the development: robot design, hardware design, and software control architecture. Most of this paper focuses on a reactive control architecture called Bender as it is currently the main focus of research. The main contribution of the Bender architecture is to produce data fusion by using markers and estimators. Markers are abstract representations of the objects in the robot's environments. Estimators produce markers from sensor input using various data processing methods.