TECHNISCHE UNIVERSITÄT MÜNCHEN The
TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Informatik XXIII Sensor Based Robotic Systems and Intelligent Assistance Systems The Cognitive Robot Abstract Machine: A Framework for Cognitive Robotics Lorenz Mösenlechner Vollständiger Abdruck der von der Fakultät für Informatik der Technischen Universität München zur Erlangung des akademischen Grades eines Doktors der Naturwissenschaften (Dr. rer. nat.) genehmigten Dissertation. Vorsitzende: Univ.-Prof. Gudrun Klinker, Ph.D. Prüfer der Dissertation: 1. Univ.-Prof. Michael Beetz Ph.D., Universität Bremen 2. Univ.-Prof. Dr. Alin Albu-Schäffer Die Dissertation wurde am 19.08.2015 bei der Technischen Universität München ein- gereicht und durch die Fakultät für Informatik am 26.02.2016 angenommen. Abstract With the development of mobile robotic platforms that can operate in domestic do- mains such as a human household, for instance Willow Garage’s PR2, solving tasks such as cleaning up or cooking food has become possible. The software that controls these robots became more and more complex and recent research provides solutions for navigation, manipulation and perception. With rising complexity of the tasks to be performed, the requirements for a high level executive that orchestrates arm mo- tions, navigation and perception changed towards a tight integration of planning, reasoning and action execution. This thesis describes CRAM, a complete framework for implementing cognitive high-level robot control programs to enable robotic agents to execute their tasks more robustly, reliably and flexibly. CRAM combines a powerful language for programming robot actions with sophisti- cated reasoning mechanisms. This allows the programmer to state plans more ab- stractly by letting the robot make decisions based on its current belief about the en- vironment and the predicted future course of actions.
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