Dora: A Robot that Plans and Acts Under Uncertainty

M. Göbelbecker, M. Hanheide, C. Gretton, N. Hawes, A. Pronobis, A. Aydemir, S. Kristoffer, H. Zender

In: 35th German Conference on Artificial Intelligence (KI), 2012.

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Dealing with uncertainty is one of the major challenges when constructing autonomous mobile robots. The CogX project addressed key aspects of that by developing and implementing mechanisms for self-understanding and self-extension -- i.e. awareness of gaps in knowledge, and the ability to reason and act to fill those gaps. We discuss our robot called Dora, a showcase outcome of that project. Dora is able to perform a variety of search tasks in unexplored environments. One of the results of the project is the Dora robot, that can perform a variety of search tasks in unexplored environments by exploiting probabilistic knowledge representations while retaining efficiency by using a fast planning system.

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@inproceedings{goebelbecker2012ki,
  author =       {G{\"o}belbecker, Moritz and Hanheide, Marc and Gretton, Charles and Hawes, Nick and Pronobis, Andrzej and Aydemir, Alper and Sj\"{o}\"{o} Kristoffer and Zender, Hendrik},
  title =        {Dora: A Robot that Plans and Acts Under Uncertainty},
  booktitle =    {35th German Conference on Artificial Intelligence (KI)},
  year =         2012,
  address =      {Saarbr\"{u}cken, Germany},
  month =        sep,
  url =          {http://www.pronobis.pro/publications/goebelbecker2012ki}
}