Autonomous planning for mobile manipulation services based on multi-level robot skills

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 1999-2004

  Weser, Martin ^a   Zhang, Jianwei ^a  

^a UNIVERSITY OF HAMBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ABSTRACTION LEVEL; AUTONOMOUS PLANNING; CONTROL ARCHITECTURE; CONTROL PROGRAM; GENERAL PURPOSE; MOBILE MANIPULATION; MULTI-LEVEL; PLAN-BASED; ROBOT ACTIONS; ROBOT CONTROL SYSTEMS; ROBOT TASKS; SEQUENTIAL EXECUTION; SERVICE ROBOTS; TASK PLANNER; UNKNOWN ENVIRONMENTS;

ABSTRACTING; INTELLIGENT ROBOTS; MOBILE ROBOTS; PLANNING;

ROBOT PROGRAMMING;

EID: 76249127766     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5353901     Document Type: Conference Paper

References (15)

1. Ronald C. Arkin. Behavior-based Robotics. MIT Press, 2 edition, 1998.
2. Stevan Harnad. The symbol grounding problem. Physika D, 42:335-346, 1990.
3. M. Ghallab, R. Alami, J. Hertzberg, M. Gini, M. Fox, B. Williams, B. Schattenberg, D. Borrajo, P. Doherty, J. M. Morina, A. Sanchis, P. Fabiani, and M. Pollack. A roadmap for research in robot planning, 2006.
4. Valentino Braitenberg. Vehicles. Experiments in Synthetic Psychology. MIT Press, Cambridge, Mass., 1984.
5. Rodney A. Brooks. A robust layered control system for a mobile robot. In ICRA Int. Conf. on Robotics and Automation, volume RA-2, pages 14-23, 1986.
6. S. Thrun, M. Bennewitz, W. Burgard, A.B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. MINERVA: A second generation mobile tour-guide robot. 1999.
7. D. Hähnel, W. Burgard, and G. Lakemeyer. Golex - bridging the gap between logic (golog) and a real robot. In KI '98: Annual German Conf. on Artificial Intelligence, pages 165-176, 1998. Springer-Verlag.
8. R. Simmons, D. Goldberg, A. Goode, M. Montemerlo, N. Roy, B. Sellner, C. Urmson, M. Bugajska, M. Coblenz, M. Macmahon, D. Perzanowski, I. Horswill, R. Zubek, D. Kortenkamp, B. Wolfe, T. Milam, M. Inc, and B. Maxwell. Grace: An autonomous robot for the aaai robot challenge. AI Magazine, 24:51-72, 2003.
9. T. Asfour, K. Regenstein, P. Azad, J. Schrder, A. Bierbaum, N. Vah-renkamp, and R. Dillmann. ARMAR-III: An integrated humanoid platform for sensory-motor control. In IEEE-RAS Int. Conf. on Humanoid Robots, 2006.
10. T. Asfour, D.N. Ly, K. Regenstein, and R. Dillmann. Coordinated task execution for humanoid robots. In Experimental Robotics IX, volume 21, pages 259-267. STAR, 2005.
11. U. D. Hanebeck, C. Fischer, and G. Schmidt. Roman: A mobile robotic assistant for indoor service applications. In IROS Int. Conf. on Robotics and Systems, 1997.
12. E. Beaudry, F. Kabanza, and F. Michaud. Planning for a mobile robot to attend a conference. In Canadian Conf. on Artificial Intelligence, pages 48-52, 2005.
13. Martin Weser and Jianwei Zhang. Proactive multimodal perception for feature based anchoring of complex objects. In ROBIO Int. Conf. on Robotics and Biometrics, 2007.
14. Silvia Coradeschi and Alessandro Saffiotti. An introduction to the anchoring problem. Robotics and Autonomous Systems, 43(2-3):85-96, 2003. Special issue on perceptual anchoring.
15. D. Nau, T. C. Au, O. Ilghami, U. Kuter, W. Murdock, D. Wu, and F. Yaman. Shop2: An htn planning system. Journal on Artificial Intelligence Research, 20, 2003.