Paper Info
Title
Dynamic State Charts: composition and coordination of complex robot behavior and reuse of action plots.
Abstract
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 applications but lack dynamic mechanisms to manage the complexity of real world tasks. This paper proposes Dynamic State Charts for composition and coordination of complex robot behavior. Dynamic states refine their content (sub behaviors) to execute from alternatives at runtime to manage the complexity of real world tasks. Reusable task plots are bundled with software components and are provided in a repository ("robot app store"). Domain experts can reuse these bundles off-the-shelf in a building blocks manner for their specific application. This supports the separation of' roles during the development process.
Year
DOI
Venue
2014
10.1109/TePRA.2013.6556375
Technologies for Practical Robot Applications
Keywords
Field
DocType
speech,software components
GRASP,App store,Computer science,Human–computer interaction,Need to know,Artificial intelligence,Behavior-based robotics,Component-based software engineering,Robot,Robotics,Model-driven software development,Embedded system
Journal
Volume
Issue
ISSN
7
2
1861-2784
ISBN
Citations 
PageRank 
978-1-4673-6223-8
2
0.61
References 
Authors
8
2
Name
Order
Citations
PageRank
Dennis Stampfer1184.24
Christian Schlegel211013.03