Dora: A Robot that Plans and Acts Under Uncertainty
Moritz Göbelbecker, Marc Hanheide, Charles Gretton, Nick Hawes, Andrzej Pronobis, Alper Aydemir, Sjöö Kristoffer, Hendrik Zender · 2012
Abstract. Dealing with uncertainty is one of the major challenges when constructing autonomous mobile robots. The CogX project addressed key aspects of that by developing and implementing mechanisms for selfunderstanding and self-extension – i.e. awareness of gaps in knowledge, and the ability to reason and act to fill those gaps. We discuss our robot called Dora, a showcase outcome of that project. Dora is able to perform a variety of search tasks in unexplored environments. One of the results of the project is the Dora robot, that can perform a variety of search tasks in unexplored environments by exploiting probabilistic knowledge representations while retaining efficiency by using a fast planning system. 1