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 online operator support. Effectiveness of the approach is demonstrated by experimental results achieved with the proposed MRI and the service robot ROMAN