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Titel

The control architecture of Care-O-bot II

Abstract
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.
Author(s)
Hans, M.
Hauptwerk
Advances in human-robot interaction
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Language
Englisch
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IPA
Tags
  • task planning

  • robotic home assistan...

  • Roboterassistent

  • Care-O-Bot

  • Serviceroboter

  • Steuerungsarchitektur...

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