Design andImplementation ofService-Oriented TaskModelforAutonomous Service Robot

We identify anddescribe thechallenges ofrobot taskdescription anddiscuss theshortcomings ofcurrent approaches inmeeting these challenges. We thenidentify asetofgoals toguide thedesign ofataskdescription language fortheservice-oriented autonomous robot. Thesegoals ledtothecreation ofevent-based taskdescription language, a XML-based language fordescribing usertasks aspatterns ofsub-tasks andevents. ETDL is human-readable yetflexible enoughtodescribe mosttypesofservice patterns tohumanespecially inhome environment. Finally, weexperiment howwellwemetourgoals andimplications inthetest bedequipped various information appliances using prototype robot, WeverR2.