STRL-Robotics: intelligent control for robotic platform in human-oriented environment

The article considers the problem of synthesizing the behavior of mobile robotic manipulator when solving tasks in a human-oriented environment. The architecture of the control system is presented, which in an original way integrates the modules responsible localization and mapping, planning the motion of the mobile platform between given points, controlling movement along the planned path, object recognition on sensor data and controlling the manipulator when interacting with recognized objects. Aforementioned components are implemented for an example task of ensuring the mobility of a robotic system in a multifloor office building equipped with elevators. During the experiments, the implemented set of components allowed a real robotic system to use the elevator of an office building.