  We introduce the Beam, a collaborative autonomous mobile service robot, based
on SuitableTech's Beam telepresence system. We present a set of enhancements to
the telepresence system, including autonomy, human awareness, increased
computation and sensing capabilities, and integration with the popular Robot
Operating System (ROS) framework. Together, our improvements transform the Beam
into a low-cost platform for research on service robots. We examine the Beam on
target search and object delivery tasks and demonstrate that the robot achieves
a 100% success rate.
