We have developed an autonomous robot system that takes well-composed photographs of people at social events, such as weddings and conference receptions. In this article, we outline the overall architecture of the system and describe how the various components interrelate. We also describe our experiences deploying the robot photographer at a number of real-world events.

This model makes system debugging significantly easier, because we know We introduced a sensor abstraction layer to exactly what each sensor reading is at every separate the task layer from concerns about point in the computation; something that physical sensing devices. We process the sensor would not be the case if we were reading from information (from the laser rangefinder in this the sensors every time a reading was used in a application) into distance measurements from calculation. This model also allows us to inject the center of the robot, thus allowing consideration modified sensor readings into the system, as of sensor error models and performance described in the next section.