Situation-dependent selection and concatenation of behavior patterns
"Situation" comprises the states of relevant objects, the state and goal of the robot, and its behavior repertoire
Actuators:
1-dof camera platform
3 wheels (one steered and driven, two passive)
Addition in 2002: 7-DoF articulated arm with 2-finger Gripper
Sensors
Video camera
Odometry
Addition in 2003: Stereo vision system, Tactile sensors in the gripper
Knowledge representation:
Attributed topological map
Mission description
Man-machine-communication:
By reference to objects in the environment
No reference to coordinates>
User-friendly due to the robot's situatedness and learning ability
Results:
Task-related navigation
Map-building by supervised learning
User-friendly communication and easy introduction of the robot into a new environment; both as a result of the situation-orientierted behavior-based system architecture