Abstract
In this paper, we describe the development of an autonomous robot capable of interacting with an unfamiliar, unmapped environment. Utilizing multiple integrated sensors and actuators, including a depth camera, IMU, and drive motors. This indoor service robot can learn and interact with its surroundings. The robot can be instructed to interact with specific objects in its surroundings and perform a given task by leveraging an object and text recognition algorithm. The autonomous robot consists of a Robotis TurtleBot3 robot, an OpenMANIPULATOR-X gripper arm integrated with Robot Operating System (ROS), and an Intel RealSense D435i stereo camera for object and text recognition. This work aims to demonstrate the ability of the robot to operate in an indoor environment to recognize numbers, read names, and identify objects, for indoor robot applications. The exhibited platform enables further expansion across various applications and environments, allowing it to complete tasks autonomously.