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ISVC
2007
Springer

A Control Architecture for Long-Term Autonomy of Robotic Assistants

12 years 24 days ago
A Control Architecture for Long-Term Autonomy of Robotic Assistants
A major challenge in deploying service robots into the real world is to design a framework that provides effective, long-term interactions with people. This includes interacting with people in a natural way, dealing with multiple users, and being continually aware of the surroundings. This paper proposes a robot control architecture that addresses these issues. First, it enables the representation of complex, sequential, and hierarchical robot tasks, in a behavior-based framework. Second, it provides a robot with the flexibility to deal with multiple requests and interruptions, over extended periods. Third, it uses a visual awareness mechanism to recognize users and to identify their need for robot interaction. We demonstrate our approach on a Pioneer 3DX mobile robot, performing service tasks in a real-world environment.
Christopher King, Xavier Palathingal, Monica N. Ni
Added 08 Jun 2010
Updated 08 Jun 2010
Type Conference
Year 2007
Where ISVC
Authors Christopher King, Xavier Palathingal, Monica N. Nicolescu, Mircea Nicolescu
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