家庭用サービスロボットのタスク解決：UT Austin Villa@Home 2019 チーム報告
Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report
RoboCup@Home 2019に参加したUT Austin Villaチームの取り組みを報告し、多様な家庭内タスクを統合システムで自律的に遂行するための要素技術と統合手法、今後の研究方向を示した。
著者: Rishi Shah, Yuqian Jiang, Haresh Karnan, Gilberto Briscoe-Martinez, Dominick Mulder, Ryan Gupta, Rachel Schlossman, Marika Murphy, Justin W. Hart, Luis Sentis, Peter Stone
分類: cs.RO, cs.AI
原文アブストラクト
RoboCup@Home is an international robotics competition based on domestic tasks requiring autonomous capabilities pertaining to a large variety of AI technologies. Research challenges are motivated by these tasks both at the level of individual technologies and the integration of subsystems into a fully functional, robustly autonomous system. We describe the progress made by the UT Austin Villa 2019 RoboCup@Home team which represents a significant step forward in AI-based HRI due to the breadth of tasks accomplished within a unified system. Presented are the competition tasks, component technologies they rely on, our initial approaches both to the components and their integration, and directions for future research.
