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Towards Service Robots for Everyday Environments pp 117–124Cite as

Task Planning for an Autonomous Service Robot

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 76))

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.

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Authors and Affiliations

  1. Institut für Informatik, Albert-Ludwigs-Universität Freiburg, Freiburg, Germany

    Thomas Keller, Patrick Eyerich & Bernhard Nebel

Authors
  1. Thomas Keller
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  2. Patrick Eyerich
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  3. Bernhard Nebel
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Corresponding author

Correspondence to Thomas Keller .

Editor information

Editors and Affiliations

  1. GPS Gesellschaft für Produktionssysteme, Nobelstrasse 12, Stuttgart, 70569, Germany

    Erwin Prassler

  2. Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, Karlsruhe, 76131, Germany

    Marius Zöllner

  3. KUKA Laboratories GmbH, Zugspitzstrasse 140, Augsburg, 86165, Germany

    Rainer Bischoff

  4. , Autonome Intelligente Systeme, Universität Freiburg, Georges-Köhler-Allee 79, Freiburg, 79110, Germany

    Wolfram Burgard

  5. , Technische Fakultät, Universität Bielefeld, Bielefeld, 33501, Germany

    Robert Haschke

  6. und Automatisierung IPA, Fraunhofer Institut für Produ, Nobelstrasse 12, Stuttgart, 70569, Germany

    Martin Hägele

  7. Siemens AG, Otto-Hahn-Ring 6, München, 81730, Germany

    Gisbert Lawitzky

  8. , Grundlagen der künstlichen Intelligenz, Universität Freiburg, Georges-Köhler-Allee 52, Freiburg, 79110, Germany

    Bernhard Nebel

  9. , Fachbereich Informatik, Hochschule Bonn-Rhein-Sieg, Grantham-Allee 20, Sankt Augustin, 53754, Germany

    Paul Plöger

  10. und Automatisierung IPA, Fraunhofer Institut für Produktionstechn, Nobelstrasse 12, Stuttgart, 70569, Germany

    Ulrich Reiser

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© 2012 Springer-Verlag GmbH Berlin Heidelberg

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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

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  • DOI: https://doi.org/10.1007/978-3-642-25116-0_10

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25115-3

  • Online ISBN: 978-3-642-25116-0

  • eBook Packages: EngineeringEngineering (R0)

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