ConGolog, a concurrent programming language based on the situation calculus
Artificial Intelligence
Maintaining knowledge about temporal intervals
Communications of the ACM
Machine Learning
Structured Reactive Controllers
Autonomous Agents and Multi-Agent Systems
Integrated Plan-Based Control of Autonomous Robots in Human Environments
IEEE Intelligent Systems
Decision-Theoretic, High-Level Agent Programming in the Situation Calculus
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Task planning for human-robot interaction
Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies
PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Gestures without libraries, toolkits or training: a $1 recognizer for user interface prototypes
Proceedings of the 20th annual ACM symposium on User interface software and technology
Logic-based robot control in highly dynamic domains
Robotics and Autonomous Systems
Interleaving temporal planning and execution in robotics domains
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Integrating NLP with Reasoning about Actions for Autonomous Agents Communicating with Humans
WI-IAT '09 Proceedings of the 2009 IEEE/WIC/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology - Volume 02
On-line execution of cc-Golog plans
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Developing high-level cognitive functions for service robots
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Towards performing everyday manipulation activities
Robotics and Autonomous Systems
Design principles of the component-based robot software framework Fawkes
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Laser-Based localization with sparse landmarks
RoboCup 2005
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus
Journal of Intelligent and Robotic Systems
A modular approach to gesture recognition for interaction with a domestic service robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Handling open knowledge for service robots
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
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In this paper we present Caesar, an intelligent domestic service robot. In domestic settings for service robots complex tasks have to be accomplished. Those tasks benefit from deliberation, from robust action execution and from flexible methods for human---robot interaction that account for qualitative notions used in natural language as well as human fallibility. Our robot Caesar deploys AI techniques on several levels of its system architecture. On the low-level side, system modules for localization or navigation make, for instance, use of path-planning methods, heuristic search, and Bayesian filters. For face recognition and human---machine interaction, random trees and well-known methods from natural language processing are deployed. For deliberation, we use the robot programming and plan language Readylog, which was developed for the high-level control of agents and robots; it allows combining programming the behaviour using planning to find a course of action. Readylog is a variant of the robot programming language Golog. We extended Readylog to be able to cope with qualitative notions of space frequently used by humans, such as "near" and "far". This facilitates human---robot interaction by bridging the gap between human natural language and the numerical values needed by the robot. Further, we use Readylog to increase the flexible interpretation of human commands with decision-theoretic planning. We give an overview of the different methods deployed in Caesar and show the applicability of a system equipped with these AI techniques in domestic service robotics.