By Topic

Supporting advanced interaction capabilities on a mobile robot with a flexible control system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
M. Kleinehagenbrock ; Fac. of Technol., Bielefeld Univ., Germany ; J. Fritsch ; G. Sagerer

Building a mobile service robot for home and office environments that incorporates skilled interaction capabilities is a challenging task. The control system has to consider various demands: first, it has to manage unstructured and dynamic environments. Second, as humans are around, aspects of safety are of particular importance. This implies that the system has to be highly reactive. Third, the robot also has to be capable of carrying out dialogs to be taught or instructed. Altogether, this requires a highly integrated control framework. In this paper we present an agent-based architecture for our mobile robot BIRON in order to realize sophisticated human-robot interaction. The architecture is built in a modular fashion and controlled by a central execution supervisor using an event queue to handle asynchronous events. This execution supervisor contains an augmented finite state machine which is specified in XML and thus is highly generic. Similarly, the communication between all modules is based on XML. The overall system, therefore, is easily maintainable and extensible, as the architecture's design allows us to add new modules to the system without requiring major modifications on existing components.

Published in:

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

28 Sept.-2 Oct. 2004