Managing algorithm of graph structured scenario for robot

All the robots except industrial robots and medical robots are defined as service robots. Robots having the same functions can be used in different business areas. For example, robotic reception service and museum guide service move around the restaurant or museum and run facial recognition algorithms, but different contents are used for what is displayed to users. When a face was detected, different responses might be applied to different robots. The services arranged in a graph is called scenario in this paper. When a scenario is written, it has not only a sequential flow, but also conditional flow and repeat flow. This paper introduces an algorithm managing a graph having conditional sub graphs and repeat sub graphs.