Hierarchical supervisory control of service robot using huMan-Robot-Interface

Intelligent human behaviour models can serve as a basis for semi-autonomous mobile robot systems. In this paper the necessity of hierarchical supervisory control for service task solution using a huMan-Robot-Interface (MRI) is motivated. The demands on information exchange between operator, MRI and service robot are outlined and categorised. A distributed planner to control the robot system is presented, enabling both flexible robot behaviour and on-line operator support. Effectiveness of the approach as demonstrated by experimental results achieved with the proposed MRI and the service robot ROMAN.