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Integrating Qualitative Reasoning and Human-Robot Interaction in Domestic Service Robotics

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Abstract

In this paper we discuss a system layout for cognitive service robots and our implementation of such a system. Our focus is on integrating qualitative reasoning and human-robot interaction. After introducing the domestic service robotics domain with its challenges and the RoboCup@Home initiative we present our robot platform, its basic capabilities and its high-level reasoning system. Then, we discuss a system layout for a cognitive service robot in domestic domains, and we show how components of our service robot implement elements of such a system layout. We discuss strengths and limitations of these components and of the overall system.

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Notes

  1. http://www.fawkesrobotics.org.

  2. With a second-order axiom.

  3. http://www.cstr.ed.ac.uk/projects/festival/.

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Acknowledgments

Large parts of this paper are based on my doctoral dissertation. I would like to acknowledge the support that I have received from Gerhard Lakemeyer during my dissertation. Also, I appreciate the contributions made by Alexander Ferrein and Tim Niemueller. I further want to thank the anonymous reviewers for their valuable and helpful comments.

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  1. Knowledge-Based Systems Group, RWTH Aachen University, Ahornstr. 55, 52056, Aachen, Germany

    Stefan Schiffer

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  1. Stefan Schiffer
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Correspondence to Stefan Schiffer.

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Schiffer, S. Integrating Qualitative Reasoning and Human-Robot Interaction in Domestic Service Robotics. Künstl Intell 30, 257–265 (2016). https://doi.org/10.1007/s13218-016-0436-x

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