Abstract
Mobile robots are deployed in the built environment at increasing rates. However, lack of considerations for a robot-inclusive planning has led to physical spaces that would potentially pose hazards to robots, and contribute to an overall productivity decline for mobile service robots. This research proposes the use of an adapted Failure Mode and Effects Analysis (FMEA) as a structured tool to evaluate a building's level of robot-inclusivity and safety for service robot deployments. This Robot-Inclusive FMEA (RIFMEA) framework, is used to identify failures in the built environment that compromise the workflow of service robots, assess their effects and causes, and provide recommended actions to alleviate these problems. The method was supported with a case study of deploying telepresence robots in a university campus. The study concluded that common failures were related to poor furniture design, a lack of clearance and hazard indicators, and sub-optimal interior planning.