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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Task Planning for an Autonomous Service Robot
verfasst von : Thomas Keller, Patrick Eyerich, Bernhard Nebel
Erschienen in: KI 2010: Advances in Artificial Intelligence
Verlag: Springer Berlin Heidelberg
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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.