Aktionsplanung und -ausführung für Assistenzsysteme: Die Kontrollarchitektur von Care-O-Bot® II

Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control its actions in real-time. They must also be able to execute complex, multi-step plans, to confirm that plan steps have had their inteded effects, and to deal with problems and opportunities as they arise. This paper presents a modular control archtiecture for task planning and execution, that controls concurrent, reactive, and deliberative actions. The robustness against changing environments is demonstrated by Care-O-Bot® II showing fetch-and-carry duties