Open AccessTask Planning for an Autonomous Service Robot
Author(s) -
Thomas Keller,
Patrick Eyerich,
Bernhard Nebel
Publication year - 2010
Publication title -
lecture notes in computer science
Language(s) - English
Resource type - Book series
SCImago Journal Rank - 0.249
H-Index - 400
eISSN - 1611-3349
pISSN - 0302-9743
ISBN - 3-642-16110-3
DOI - 10.1007/978-3-642-16111-7_41
Subject(s) - task (project management) , service robot , robot , computer science , service (business) , human–computer interaction , architecture , artificial intelligence , autonomous robot , mobile robot , systems engineering , engineering , business , geography , archaeology , marketing
In the DESIRE project an autonomous robot capable of performing service tasks in a typical kitchen environment has been developed. The overall system consists of various loosely coupled subcomponents providing particular features like manipulating objects or recognizing and interacting with humans. To bring all these subcomponents together to act as monolithic system, a high-performance planning system has been implemented. In this paper, we present this system's basic architecture and some advanced extensions necessary to cope with the various challenges arising in dynamic and uncertain environments like those a real world service robot is usually faced with.
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