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Towards Service Robots for Everyday Environments pp 19–42Cite as

Component Based Architecture for an Intelligent Mobile Manipulator

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 76))

Abstract

We describe the development of an architecture for the DESIRE technology demonstrator based on principles of classical component based software engineering. The architecture is directly derived from the project requirements and resides on the concept of an Autonomous Component utilizing a smart feedback value called WishLists. This return type is able to provide expert advice about the reasons of occurring failures and give hints for possible recovery strategies. This is of key importance to advance towards robustness. The integration of an AI task planner allows the realization of higher flexibility, dependability and capability during task execution and may resolve conflicts between occurring WishLists. Furthermore the necessity of a central system-state model (Eigenmodel), which represents the current state and configuration of the whole system at runtime, is explained and illustrated. We conclude with some lessons learned.

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Author information

Authors and Affiliations

  1. Bonn-Rhein-Sieg University of Applied Sciences, Sankt Augustin, Germany

    Paul G. Plöger

  2. Fraunhofer IAIS, Sankt Augustin, Germany

    Kai Pervölz & Christoph Mies

  3. Institut für Informatik, Albert-Ludwigs-Universität Freiburg, Freiburg, Germany

    Patrick Eyerich, Michael Brenner & Bernhard Nebel

Authors
  1. Paul G. Plöger
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  2. Kai Pervölz
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  3. Christoph Mies
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  4. Patrick Eyerich
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  5. Michael Brenner
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  6. Bernhard Nebel
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Corresponding author

Correspondence to Paul G. Plöger .

Editor information

Editors and Affiliations

  1. GPS Gesellschaft für Produktionssysteme, Nobelstrasse 12, Stuttgart, 70569, Germany

    Erwin Prassler

  2. Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, Karlsruhe, 76131, Germany

    Marius Zöllner

  3. KUKA Laboratories GmbH, Zugspitzstrasse 140, Augsburg, 86165, Germany

    Rainer Bischoff

  4. , Autonome Intelligente Systeme, Universität Freiburg, Georges-Köhler-Allee 79, Freiburg, 79110, Germany

    Wolfram Burgard

  5. , Technische Fakultät, Universität Bielefeld, Bielefeld, 33501, Germany

    Robert Haschke

  6. und Automatisierung IPA, Fraunhofer Institut für Produ, Nobelstrasse 12, Stuttgart, 70569, Germany

    Martin Hägele

  7. Siemens AG, Otto-Hahn-Ring 6, München, 81730, Germany

    Gisbert Lawitzky

  8. , Grundlagen der künstlichen Intelligenz, Universität Freiburg, Georges-Köhler-Allee 52, Freiburg, 79110, Germany

    Bernhard Nebel

  9. , Fachbereich Informatik, Hochschule Bonn-Rhein-Sieg, Grantham-Allee 20, Sankt Augustin, 53754, Germany

    Paul Plöger

  10. und Automatisierung IPA, Fraunhofer Institut für Produktionstechn, Nobelstrasse 12, Stuttgart, 70569, Germany

    Ulrich Reiser

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Plöger, P.G., Pervölz, K., Mies, C., Eyerich, P., Brenner, M., Nebel, B. (2012). Component Based Architecture for an Intelligent Mobile Manipulator. In: Prassler, E., et al. Towards Service Robots for Everyday Environments. Springer Tracts in Advanced Robotics, vol 76. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25116-0_4

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  • DOI: https://doi.org/10.1007/978-3-642-25116-0_4

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25115-3

  • Online ISBN: 978-3-642-25116-0

  • eBook Packages: EngineeringEngineering (R0)

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