Abstract
In the DESIRE project an autonomous robot capable of performing service tasks in a typical kitchen environment has been developed. The overall system consists of various loosely coupled subcomponents providing particular features like manipulating objects or recognizing and interacting with humans. To bring all these subcomponents together to act as monolithic system, a high-performance planning system has been implemented. In this paper, we present this system’s basic architecture and some advanced extensions necessary to cope with the various challenges arising in dynamic and uncertain environments like those a real world service robot is usually faced with.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Brenner, M., Nebel, B.: Continual planning and acting in dynamic multiagent environments. Journal of Autonomous Agents and Multiagent Systems 19(3), 297–331 (2009)
Dornhege, C., Eyerich, P., Keller, T., Trüg, S., Brenner, M., Nebel, B.: Semantic attachments for domain-independent planning systems. In: Proc. ICAPS 2009, pp. 114–121 (2009)
Eyerich, P., Mattmüller, R., Röger, G.: Using the context-enhanced additive heuristic for temporal and numeric planning. In: Proc. ICAPS 2009, pp. 130–137 (2009)
Fox, M., Long, D.: PDDL 2.1: An extension to PDDL for expressing temporal planning domains. JAIR 20, 61–124 (2003)
Geffner, H.: Functional STRIPS: a more flexible language for planning and problem solving, pp. 187–209 (2000)
Ghallab, M., Nau, D., Traverso, P.: Automated Planning: Theory and Practice. Morgan Kaufmann (2004)
Helmert, M.: The Fast Downward planning system. JAIR 26, 191–246 (2006)
Littman, M.L., Goldsmith, J., Mundhenk, M.: The computational complexity of probabilistic planning. JAIR 9, 1–36 (1998)
Plöger, P., Pervölz, K., Mies, C., Eyerich, P., Brenner, M., Nebel, B.: The DESIRE service robotics initiative. KI 4, 29–32 (2008)
Rintanen, J.: Constructing conditional plans by a theorem-prover. JAIR 10, 323–352 (1999)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Keller, T., Eyerich, P., Nebel, B. (2012). Task Planning for an Autonomous Service Robot. In: Prassler, E., et al. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25116-0_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-25116-0_10
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25115-3
Online ISBN: 978-3-642-25116-0
eBook Packages: EngineeringEngineering (R0)