Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

This paper presents an architecture dedicated to the orchestration of high level abilities of a humanoid robot, such as a Pepper, which must perform some tasks as the ones proposed in the RoboCup@Home competition. We present the main abilities that a humanoid service robot should provide. We choose to build them based on recent methodologies linked to social navigation and deep learning. We detail the architecture, on how high level abilities are connected with low level sub-functions. Finally we present first experimental results with a Pepper humanoid.