Abstract:
In the first part, I will introduce the domestic service robot Caesar, which my group has been developing and operating over the past seven years. In particular, I will focus on the AI methods used and lessons learned over the years. In the second part, I will turn to current and future work regarding mobile manipulation tasks, where the action control of the robot needs to continuously interleave active perception and high-level planning with action execution. The robot has to deal with qualitative action and world descriptions as well as with uncertainty and quantitative data from sensors and actuators. I will outline how a recently started project together with partners from Freiburg University attempts to address these issues and present initial results. [2 Aug 2013]
