Pumas@Home 2013 Team Description Paper

This paper describes an autonomous service robot called Justina, built by the team Pumas in the laboratory of Biorobotics at the National University of Mexico. The robot is based on the ViRbot architecture for autonomous mobile robots operation. ViRbot denes a human-robot interaction interface based on Natural Language Process- ing, for understanding voice and gesture commands, Conceptual Depen- dence, Action Planning, based on the sensor's information and the state of the robot, and a set of Subtasks, performed by a Simple Task Planner which coordinates several modules that process information from the sen- sors and controls the hardware. For simplifying task planning along with real time awareness, all modules communicate with each other through a central module called Blackboard, which supports shared variables, with publisher/subscriber pattern, and message passing.