Towards a Plan Library for Household Robots
Armin Müller, Michael Beetz · 2007
This paper describes the structure for a plan library of a service robot intended to perform household chores. The plans in the library are particularly designed to enable reliable, flexible, and efficient robot control, to learn control heuristics, to generalize the plans to cope with new objects and situations. We believe that plans with these characteristics are required for competent autonomous robots performing skilled manipulation tasks in human environments.