  We present the concept of speed maps: speed limits for mobile robots in human
environments. Static speed maps allow for faster navigation on corridors while
limiting the speed around corners and in rooms. Dynamic speed maps put limits
on speed around humans. We demonstrate the concept for a mobile robot that
guides people to annotated landmarks on the map. The robot keeps a metric map
for navigation and a semantic map to hold planar surfaces for tasking. The
system supports automatic initialization upon the detection of a specially
designed QR code. We show that speed maps not only can reduce the impact of a
potential collision but can also reduce navigation time.
