• Martin Hägele
  • Paul G. Plöger
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 76)


The DESIRE project at large aimed at the specification, design and realization of a service robot operating in an everyday environment. This task by itself is extremely challenging since it deals with all aspects of mobile manipulators, ranging from low level drive control over perception and manipulation to task planning and failure recovery. Since large robotic systems of this complexity have not frequently been built so far, the process itself is by no means a standard process.


Software Architecture Mobile Manipulator Service Robot Failure Recovery Architectural Pattern 
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.

Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.Fraunhofer IPAStuttgartGermany
  2. 2.Bonn-Rhein-Sieg University of Applied SciencesSankt AugustinGermany

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