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Michael Beetz, Tom Arbuckle, Thorsten Belker, Maren Bennewitz, Wolfram Burgard, Armin B. Cremers, Dieter Fox, Henrik Großkreutz, Dirk Hähnel, Dirk Schulz

Integrated Plan-based Control of Autonomous Service Robots in Human Environments

IEEE Intelligent Systems

Abstract

Autonomous robots have operated reliably and safely in unstructured environments: they have been museum tour guides, performed simple delivery tasks and explored dangerous environments. These tasks were carefully chosen: they made great demands on the robots' navigation skills and on safe and reliable operation in unstructured, dynamic environments, but their structure was kept deliberately simple. Creating an autonomous robot capable of accomplishing prolonged, complex and dynamically changing tasks in the real world is a key challenge for the next generationof autonomous robots.

To perform complex activities effectively, robots must possess rich perceptual capabilities to recognize objects and places and interactively communicate with people. Robots must also reason about and manage concurrent tasks and subtasks while executing them. Moreover, for prolonged success, robots must improve their control routines based on experiences to adapt to environment and task changes.

Our research investigates the computational principles enabling autonomous-robot control systems to accomplish complex and diverse tasks in the real world. Our work focuses on developing advanced perceptual, learning and adaptation capabilities as well as planning mechanisms for robotic agents. This article describes how we added these capabilities to Rhino, an RWI B21 mobile robot.

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Bibtex

@Article{Beetz01Int,
  author = 	 {Beetz, M. and Arbuckle, T. and Belker, T. and Bennewitz, M. and
                  Burgard, W. and Cremers, A. and Fox, D. and Gro\sskreutz, H. and H\"ahnel, D. and Schulz, D.},
  title = 	 {Integrated Plan-based Control of Autonomous Service Robots in Human Environments},
  journal = 	 {IEEE Intelligent Systems},
  year = 	 {2001},
  volume =	 {16},
  number =	 {5},
  pages =	 {56-65},
}