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The Control Architecture of Care-O-bot II

  • MatthiasĀ Hans
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 14)

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.

Keywords: Hybrid Control Architecture, Task Planning, Task Execution, Robotic Home Assistant, Care-O-bot

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Authors and Affiliations

  • MatthiasĀ Hans
    • 1
  1. 1.Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) Nobelstr. 12, 70569 StuttgartGermany

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