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2012
Book Article
Titel
System Architecture. Editorial
Abstract
The DESIRE project at large aimed at the specification, design and realization of a service robot operating in an everyday environment. This task by itself is extremely challenging since it deals with all aspects of mobile manipulators, ranging from low level drive control over perception and manipulation to task planning and failure recovery. Since large robotic systems of this complexity have not frequently been built so far, the process itself is by no means a standard process.