1A1-M04 空間知を活用した物品運搬サービスの構築(空間知)

抄録

This paper proposes the bring object service system in Kukanchi to decompose service request from a user into detailed robotic task plans. User's request should be simple, such as "Bring me the letter". However robotic task plan is complicated and needs to be dynamically generated depending on actual environment and system status. We propose a robot profile with capabilities to select robot based on the task requirement, and a task generate system to abstract an environment in the room for generating a command for robot task. We developed the task planning method to generate task plan for each robot to realize service execution. And, we constructed Kukanchi middleware to archive Kukanchi concept. It provides access to database and supports common interface between application, robots and sensor. Our task manager system includes in Kukanchi middleware. Experiment shows that our system is able to realize bring service based on simple command from the user.