@inproceedings{keller-et-al:ki-2010,
   author = "Thomas Keller and Patrick Eyerich and Bernhard Nebel",
   title = "Task Planning for an Autonomous Service Robot.",
   booktitle = "Proceedings on the 33rd Annual German Conference on
                  Artificial Intelligence (KI)", 
   year = "2010",
   publisher = "Springer Verlag",
   pages = {358--365},
   abstract = "In the DESIRE project an autonomous robot capable of
                  performing service tasks in a typical kitchen
                  environment has been developed. The overall system
                  consists of various loosely coupled subcomponents
                  providing particular features like manipulating
                  objects or recognizing and interacting with
                  humans. To bring all these subcomponents together to
                  act as monolithic system, a high-performance
                  planning system has been implemented. In this paper,
                  we present this system’s basic architecture and some
                  advanced extensions necessary to cope with the
                  various challenges arising in dynamic and uncertain
                  environments like those a real world service robot
                  is usually faced with."
}