Integral Modelling of Objects for Service Robotic Systems

Service robot systems often perform their duties in complex and clustered environments. The corresponding software framework to control such a system is therefore complex. An essential part represents the handling of objects by the system. All interactions of the system with the world are made by handling objects, which are used on all layers of the system. Including all parts from planning to execution of tasks they contain the relevant data, which the system works on. From this arises the requirement to efficiently model the objects and keep all of the data up to date while manipulating the objects. This work presents a solution to this integral object modelling challenge.