A hierarchical architecture for behavior-based robots
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Segmentation, Tracking and Interpretation Using Panoramic Video
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Behavior Fusion Estimation for Robot Learning from Demonstration
DIS '06 Proceedings of the IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications
A vision-based architecture for long-term human-robot interaction
IASTED-HCI '07 Proceedings of the Second IASTED International Conference on Human Computer Interaction
Continuous tracking within and across camera streams
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
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A major challenge in deploying service robots into the real world is to design a framework that provides effective, long-term interactions with people. This includes interacting with people in a natural way, dealing with multiple users, and being continually aware of the surroundings. This paper proposes a robot control architecture that addresses these issues. First, it enables the representation of complex, sequential, and hierarchical robot tasks, in a behavior-based framework. Second, it provides a robot with the flexibility to deal with multiple requests and interruptions, over extended periods. Third, it uses a visual awareness mechanism to recognize users and to identify their need for robot interaction. We demonstrate our approach on a Pioneer 3DX mobile robot, performing service tasks in a real-world environment.