: This paper describes a long-terra project to install socially interactive, autonomousmobile robots in public spaces. We have deployed four robots over the last three years, accumulatinga total operational time of about six years. We introduce the robots, then focus on the lessons learned from one deployment to the next. The evolution of the robothumaninterface is of particular interest, although other aspectsof the robots' operationsare briefly described.
Thomas Willeke, Clayton Kunz, Illah R. Nourbakhsh