Autonomous mobile robots ATHENE

Behavior-based system architecture:

• 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