M. Beetz, T. Arbuckle, T. Belker, M. Bennewitz, W. Burgard, A.B. Cremers, D. Fox, H. Grosskreutz, D. Haehnel, D. Schulz

Integrated Plan-based Control of Autonomous Service Robots in Human Environments

In IEEE Intelligent Systems, 2001.






Abstract

In this article we present an overview of recent extensions to the RHINO system, a system for controlling autonomous robots. We identify computational pricniples that enable RHINO to accomplish complex, diverse, and dynamically changing tasks in human working environments. These principles include plan-based high-level control, probabilistic reasoning, plan transformation, and context and resource-adaptive reasoning. We show how these principles are incorporated into RHINO's software modules. Long-term experiments demonstrate the practicality of our approach.

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Bibtex

@Article{Bee01Int,
  author    = {Beetz, M. and Arbuckle, T. and Belker T. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Fox, D. and Grosskreutz, H. and Haehnel, D. and Schulz, D.},
  title     = {Integrated Plan-based Control of Autonomous Service Robots in Human Environments},
  journal = {IEEE Intelligent Systems},
  volume = 16,
  number = 5,
  pages = 56-65,
  year      = {2001}
}