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The control architecture of Care-O-bot II

: Hans, M.

Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; Hägele, M.; Dillmann, R.; Iossifidis, I.:
Advances in human-robot interaction
Berlin: Springer, 2005 (Springer Tracts in Advanced Robotics - STAR 14)
ISBN: 3-540-23211-7
Book Article
Fraunhofer IPA ()
task planning; robotic home assistant; Roboterassistent; Care-O-Bot; Serviceroboter; Steuerungsarchitektur

Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their activities in real-time. They must also be able to execute complex, multi-step plans, to confirm that plan steps have had their intended effects, and to deal with problems and opportunities as they arise. This paper presents a modular control architecture for task planning and execution, that controls concurrent, reactive, and deliberative activities. The robustness against changing environments is demonstrated by Care-O-bot II showing fetch-and-carry duties. Experimental results are reported.