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저널 : IEEE, vol. 8, pp.117900-117920, 2020. 8.
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논문제목 : "A Software Architecture for Service Robots Manipulating Object in Human Environments"
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저자 : 남창주, 이석준, 이정호, 정상훈, 김동완, 김창완, 김인철, 박성기
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요약 : This paper presents a software architecture for robots providing manipulation services
autonomously in human environments. In an unstructured human environment, a service robot often needs
to perform tasks even without human intervention and prior knowledge about tasks and environments. For
autonomous execution of tasks, varied processes are necessary such as perceiving environments, representing
knowledge, reasoning with the knowledge, and planning for task and motion. While developing each of
the processes is important, integrating them into a working system for deployment is also important as a
robotic system can bring tangible outcomes when it works in real world. However, such an architecture has
been rarely realized in the literature owing to the difficulties of a full integration, deployment, understanding
high-level goals without human interventions. In this work, we suggest a software architecture that integrates
the components necessary to perform tasks by a real robot without human intervention. We show our
architecture composed of deep learning based perception, symbolic reasoning, AI task planning, and
geometric motion planning. We implement a deep neural network that produces information about the
environment, which are then stored in a knowledge base. We implement a reasoner that processes the
knowledge to use the result for task planning. We show our implementation of the symbolic task planner that
generates a sequence of motion predicates. We implement an interface that computes geometric information
necessary for motion planning to execute the symbolic task plans. We describe the deployment of the
architecture through the result of lab tests and a public demonstration. The architecture is developed based
on Robot Operating System (ROS) so compatible with any robot that is capable of object manipulation and
mobile navigation running in ROS. We deploy the architecture to two different robot platforms to show the
compatibility.