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Component Based Architecture for an Intelligent Mobile Manipulator

  • Paul G. Plöger
  • Kai Pervölz
  • Christoph Mies
  • Patrick Eyerich
  • Michael Brenner
  • Bernhard Nebel
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 76)

Abstract

We describe the development of an architecture for the DESIRE technology demonstrator based on principles of classical component based software engineering. The architecture is directly derived from the project requirements and resides on the concept of an Autonomous Component utilizing a smart feedback value called WishLists. This return type is able to provide expert advice about the reasons of occurring failures and give hints for possible recovery strategies. This is of key importance to advance towards robustness. The integration of an AI task planner allows the realization of higher flexibility, dependability and capability during task execution and may resolve conflicts between occurring WishLists. Furthermore the necessity of a central system-state model (Eigenmodel), which represents the current state and configuration of the whole system at runtime, is explained and illustrated. We conclude with some lessons learned.

Keywords

Intelligent Robot Mobile Manipulator Kinematic Chain World Model System Runtime 
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

  • Paul G. Plöger
    • 1
  • Kai Pervölz
    • 2
  • Christoph Mies
    • 2
  • Patrick Eyerich
    • 3
  • Michael Brenner
    • 3
  • Bernhard Nebel
    • 3
  1. 1.Bonn-Rhein-Sieg University of Applied SciencesSankt AugustinGermany
  2. 2.Fraunhofer IAISSankt AugustinGermany
  3. 3.Institut für InformatikAlbert-Ludwigs-Universität FreiburgFreiburgGermany

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