Martin Weser

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A sensor-based model of a service robot's environment is a prerequisite for interaction. Such a model should contain the positions of the robot's interaction partners. Additionally to the actual positions of the partners it is important for the service robot to predict their possible future positions. This knowledge could for example be used to realize(More)
Experiments showed that Hierarchical Task Network (HTN) planners are suitable to find solutions for nontrivial tasks in complex scenarios. Mobile service robots are able to execute actions which may constitute the basic building blocks to achieve high-level goals. However, only few experiments demonstrate the application of a general purpose deliberative(More)
Robot perception still lacks reliability in complex natural environments. A commonly used method to improve perception is to incorporate more sensors with different modalities. This leads to increased computational requirements due to the parallel processing of huge amounts of sensor data. Appropriate sensor fusion methods are needed if contradictory(More)
A sensor-based model of a service robot's environment is a prerequisite for interaction. Such a model should contain the positions of the robot's interaction partners. Many reasonable applications require this knowledge in realtime. It could for example be used to realize efficient path planning for delivery tasks. Additionally to the actual positions of(More)
Different disciplines such as psychology and neuro-science have been examining episodic memory (also referred to as declarative memory) for more than three decades. Now, engineering and computer science are developing an increasing interest in episodic memory for artificial systems. We propose a novel framework EPIROME to develop and investigate high-level(More)
Every artificial embodied system that act in a physical environment has to connect perceptual data to abstract symbols. This is called symbol anchoring. It is a nontrivial task due to uncertainty of measurements and the virtually unlimited number of distinguishable objects that can be perceived. We review a commonly used anchoring framework and use our(More)
General purpose service robots are expected to deal with many different tasks in unknown environments. The number of possible tasks and changing situations prevent developers from writing control programs for all tasks and possible situations. Complex robot tasks are thus accomplished by sequential execution of less complex robot actions that are triggered(More)
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