@inproceedings { Schiffer:Ferrein:Lakemeyer:ICIRA2011:FuzzyAtHome,
        title = {Fuzzy Representations and Control for Domestic Service Robots in Golog},
        booktitle = {Proceedings of the Fourth International Conference on Intelligent Robotics and Applications (ICIRA 2011)},
        series = {Lecture Notes in Computer Science},
        year = {2011},
        month = {12/2011},
        pages = {241-250},
        publisher = {Springer},
        organization = {Springer},
        abstract = {In the RoboCup@Home domestic service robot
                  competition, complex tasks such as ''get the cup
                  from the kitchen and bring it to the living room''
                  or ''find me this and that object in the apartment''
                  have to be accomplished. At these competitions the
                  robots may only be instructed by natural
                  language. As humans use qualitative concepts such as
                  ''near'' or ''far'', the robot needs to cope with
                  them, too. For our domestic robot, we use the robot
                  programming and plan language Readylog, our variant
                  of Golog. In previous work we extended the action
                  language Golog, which was developed for the
                  high-level control of agents and robots, with fuzzy
                  concepts and showed how to embed fuzzy controllers
                  in Golog. In this paper, we demonstrate how these
                  notions can be fruitfully applied to two domestic
                  service robotic scenarios. In the first application,
                  we demonstrate how qualitative fluents based on a
                  fuzzy set semantics can be deployed. In the second
                  program, we show an example of a fuzzy controller
                  for a follow-a-person task.},
        isbn = {978-3-642-25488-8},
        doi = {10.1007/978-3-642-25489-5_24},
        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/icira2011fuzzyathome.pdf},
        author = {Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}
}

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At these competitions the\n robots may only be instructed by natural\n language. As humans use qualitative concepts such as\n ''near'' or ''far'', the robot needs to cope with\n them, too. For our domestic robot, we use the robot\n programming and plan language Readylog, our variant\n of Golog. In previous work we extended the action\n language Golog, which was developed for the\n high-level control of agents and robots, with fuzzy\n concepts and showed how to embed fuzzy controllers\n in Golog. In this paper, we demonstrate how these\n notions can be fruitfully applied to two domestic\n service robotic scenarios. In the first application,\n we demonstrate how qualitative fluents based on a\n fuzzy set semantics can be deployed. 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