Task planning for an autonomous service robot

Authors:
Thomas Keller;Patrick Eyerich;Bernhard Nebel
Affiliations:
University of Freiburg, Institut für Informatik, Freiburg;University of Freiburg, Institut für Informatik, Freiburg;University of Freiburg, Institut für Informatik, Freiburg
Venue:
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Year:
2010

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Abstract

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.