  Socially assistive robotics (SAR) research has shown great potential for
supplementing and augmenting therapy for children with autism spectrum
disorders (ASD). However, the vast majority of SAR research has been limited to
short-term studies in highly controlled environments. The design and
development of a SAR system capable of interacting autonomously {\it in situ}
for long periods of time involves many engineering and computing challenges.
This paper presents the design of a fully autonomous SAR system for long-term,
in-home use with children with ASD. We address design decisions based on
robustness and adaptability needs, discuss the development of the robot's
character and interactions, and provide insights from the month-long, in-home
data collections with children with ASD. This work contributes to a larger
research program that is exploring how SAR can be used for enhancing the social
and cognitive development of children with ASD.
