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Real-time properties such as reaction times play a safety-critical role for service robot applications. Current robotic software frameworks and middlewares, however, abstract from the underlying executing platform and execution management of the operating system thereby hiding relevant timing information. In other domains, such as automotive, model-based timing analysis is used early in the development...
Die Erschließung breiter Anwendungspotenziale für Serviceroboter erfordert den Schritt weg von manuell erstellten Einzelentwürfen hin zu baukastenartig zusammengesetzten Systemen. Grundlegend hierfür ist der Schritt weg von codezentrierten hin zu modellgetriebenen Systemen. In modellgetriebenen Ansätzen wird langlebiges Lösungswissen von kurzlebigen Implementierungstechnologien entkoppelt. Durch das...
Support for separation of roles is decisive towards a successful business ecosystem where various stakeholders with dedicated expertises network and collaborate. However, it depends on means for composition(system of systems, reuse of black boxes). This paper proposes Dynamic State Charts as an extension of state charts for composition and coordination of complex robot behavior which is one of the...
Reliable object recognition is a mandatory prerequisite for Service Robots in everyday environments. Typical approaches for object recognition use single algorithms or features. However, none is yet able to classify across all types of objects and the field of object recognition is thus still an open challenge.
One of the challenges in service robotics is the integration and coordination of algorithms and abilities to make a robot perform complex tasks. Task experts of a domain should be able to compose more complex tasks (e.g. make coffee) out of basic tasks (e.g. first detect cup, grasp it, …) without the need to know about their details. State charts are adequate for robot behavior coordination in many...
Robust object recognition is a mandatory prerequisite for many applications in Service Robotics. A common approach is to capture a single image of the scene from a fixed position and to recognize all objects at once. This challenging task is even more demanding in everyday environments. We propose an approach for object recognition which makes use of mobile manipulation. An initial object belief is...
Reliable object recognition is a mandatory prerequisite for service robots that operate in everyday environments. Typical approaches run a single classifier for the purpose of object recognition. However, no single algorithm proved to classify across all types of objects. We propose an approach that combines the recognition result of several methods working on different features. This reduces the...
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