Formalizing Robotics Competitions: A practical case for RoboCup@Home Challenge

Social robots have to face several challenges in real environments where humans are very present. Thus, they have to interact and understand the world where they work. In order to address these challenges, competitions like RoboCup@Home give real-world tasks within a controlled environment. This paper presents the usage of the cognitive architecture MERLIN2 along with several perception skills to accomplish the Carry My Luggage form the RoboCup@Home 2023. Besides, to do it, a new perception skill is created to recognize the objects pointed to by humans, which can improve human-robot interaction.