Lessons Learnt from Developing the Embodied AI Platform CAESAR for Domestic Service Robotics.
Alexander Ferrein, Tim Niemueller, Stefan Schiffer, Gerhard Lakemeyer · RWTH Publications (RWTH Aachen) · 2013
In this paper we outline the development of CAESAR, a do-mestic service robot with which we participated in the robot competition RoboCup@Home for many years. We sketch the system components, in particular the parts relevant to the high-level reasoning system, that make CAESAR an intelli-gent robot. We report on the development and discuss the lessons we learnt over the years designing, developing and maintaining an intelligent service robot. From our perspective of having participated in