Say Cheese! Experiences with a Robot Photographer

We have developed an autonomous robot system that takes well-composed photographs of people at social events, such as weddings and conference receptions. The robot, Lewis, navigates through the environment, opportunistically taking photographs of people. 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.