Design and Implementation of Service-Oriented Task Model for Autonomous Service Robot

We identify and describe the challenges of robot task description and discuss the shortcomings of current approaches in meeting these challenges. We then identify a set of goals to guide the design of a task description language for the service-oriented autonomous robot. These goals led to the creation of event-based task description language, a XML-based language for describing user tasks as patterns of sub-tasks and events. ETDL is human-readable yet flexible enough to describe most types of service patterns to human especially in home environment. Finally, we experiment how well we met our goals and implications in the test bed equipped various information appliances using prototype robot, WeverR2.