## 1 Introduction  
Mobile robot systems are now being successfully deployed in different application domains such as manufacturing, medicine, logistics and search and rescues [1, 2, 3, 4]. However, in terms of domestic service applications, mostly simple systems such as floor and pool cleaning have reached maturity [5]. Domestic assistance, in particular for handicapped and elderly people, is still a great challenge of our society where mobile robots can be significantly beneficial. Domestic environments are complex, namely due to their dynamic and unstructured conditions and the need for a close interaction with objects [6] and humans [7]. This complexity arises from a wide variety of challenges: perception [8], navigation [9], HRI [10], manipulation [11] and task planning [12]. A general purpose service robot for a domestic environment is required to handle different tasks such as setting the table, serving food, cleaning the house, interacting with humans, finding and picking up objects, recognizing and handling visitors. A survey of robot systems integrating some of those capabilities in RoboCup@Home competitions can be found in [13]. To perform such complex tasks, the robot needs to hold and employ a variety of smaller specific skills (referred to here as functionalities), such as navigation, speech recognition, object perception and manipulation, where a set of hardware/software modules are utilized for each functionality.  
Quantitative evaluation of a robot's ability to perform a specific task or functionality, in real-world conditions, is currently considered an open challenge. Different research efforts [14] have recommended protocols and methods for an evidence-based evaluation of robotics research. When interaction with the environment is needed, such as interaction with people or objects, a solution is still missing that can guarantee experiment _reproducibility_, i.e., the possibility of repeating the experiment by other independent researchers to verify the results, and _repeatability_, i.e., the characteristic of an experiment that gives the same outcome when executed at different locations or different times.  
This paper describes the implementation of three key functionalities for a domestic service robot, _People perception, People following_ and _Pick and placing_, while proposing three innovative functionality benchmarks and an autonomous performance evaluation system for systematic evaluation of these three functionalities. These benchmarks are now integrated into the benchmarking system of the European Robotics League (ERL-Consumer) [15], which aims at systematic performance evaluation of robot solutions in the format of competitions [16]. The ERL-Consumer challenge occurs frequently at different testbeds around Europe and covers the domain of consumer service robotics, with current focus on applications for the benefit of addressing societal challenges such as healthy aging and longer independent living.  
The structure of this paper is as follows: Section 2 introduces some of the related work on robot benchmarking and the targeted functionalities. Section 3 describes the implementation of three robot functionalities for an actual domestic service robot, while describing in detail the hardware and software systems used for each functionality. Section 4 presents three functionality benchmarks for the systematic performance evaluation of the three robot functionalities and presents an automatic benchmark control and performance evaluation system for the quantitative evaluation of robot functionalities. Section 5 presents experiments and results from trials where the benchmarks and the benchmarking system are used to evaluate the functionalities presented in Section 3. Finally, Section 6 concludes the paper with the conclusion and future works.