Task Planning for an Autonomous Service Robot

  • Thomas Keller
  • Patrick Eyerich
  • Bernhard Nebel
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 76)


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.


Global Memory Service Robot Task Planning Temporal Planning Grasp Action 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Thomas Keller
    • 1
  • Patrick Eyerich
    • 1
  • Bernhard Nebel
    • 1
  1. 1.Institut für InformatikAlbert-Ludwigs-Universität FreiburgFreiburgGermany

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