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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Hans, M. The Control Architecture of Care-O-bot II. In: Prassler, E., et al. Advances in Human-Robot Interaction. Springer Tracts in Advanced Robotics, vol 14. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31509-4_26
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DOI: https://doi.org/10.1007/978-3-540-31509-4_26
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23211-7
Online ISBN: 978-3-540-31509-4
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