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LAAIR: A Layered Architecture for Autonomous Interactive Robots [article]

Yuqian Jiang, Nick Walker, Minkyu Kim, Nicolas Brissonneau, Daniel S. Brown, Justin W. Hart, Scott Niekum, Luis Sentis, Peter Stone
2018 arXiv   pre-print
However, the top layer in traditional hybrid architectures, designed to achieve long-term goals, can make it difficult to react quickly to human interactions during goal-driven execution.  ...  To validate this architecture, we present a case study of its application on a domestic service robot platform.  ...  In this paper, we propose a layered architecture for autonomous interactive robots, LAAIR, to facilitate complex tasks in long-term settings and dynamic interactions with humans in real-world domains.  ... 
arXiv:1811.03563v2 fatcat:2lbuzmmwvrfi7eldbaj4tjsnsy

UT Austin Villa@Home, 2019

Rishi Shah, Yuqian Jiang, Nick Walker
2019 Zenodo  
Our focus in 2019 is robustness and portability to multiple robot platforms. Presented at RoboCup 2019 in Sydney, Australia.  ...  SLAM-generated map with location names PRISM: Pose Registration for Integrated Semantic Mapping LAAIR: A Layered Architecture for Autonomous Interactive Robots Knowledge Representation • Goal  ...  decision-making • Result: Robust person following Top-Level Architecture • Goal: Build a unified system for a domestic service robot, rather than the individual RoboCup@Home tasks.  ... 
doi:10.5281/zenodo.3249233 fatcat:qiettptg6jfyxnowm3rtawe2vy

A software architecture for service robots manipulating objects in human environments

Changjoo Nam, Seokjun Lee, Jeongho Lee, Sang Hun Cheong, Dong Hwan Kim, Changhwan Kim, Incheol Kim, Sung-Kee Park
2020 IEEE Access  
This paper presents a software architecture for robots providing manipulation services autonomously in human environments.  ...  In this work, we suggest a software architecture that integrates the components necessary to perform tasks by a real robot without human intervention.  ...  Hyunseob Park for helping the public demonstration.  ... 
doi:10.1109/access.2020.3003991 fatcat:ttqqchxburch7bb3gioam63xxa

Unified Software Platform for Intelligent Home Service Robots

Jae-Bong Yi, Taewoong Kang, Dongwoon Song, Seung-Joon Yi
2020 Applied Sciences  
Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real  ...  In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in  ...  It also has a small display that can be used for status monitoring and human-robot interactions.  ... 
doi:10.3390/app10175874 fatcat:tqpkytj5ovcyvk3klspnlddupi