The Task-State Coordination Pattern, with applications in Human-Robot-Interaction

Authors Ingo Lütkebohle, Julia Peltason, Britta Wrede, Sven Wachsmuth

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Ingo Lütkebohle
Julia Peltason
Britta Wrede
Sven Wachsmuth

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Ingo Lütkebohle, Julia Peltason, Britta Wrede, and Sven Wachsmuth. The Task-State Coordination Pattern, with applications in Human-Robot-Interaction. In Learning, Planning and Sharing Robot Knowledge for Human-Robot Interaction. Dagstuhl Seminar Proceedings, Volume 10401, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)


We consider interaction a powerful enabling technology for robots in human environments. Besides taking commands or reporting, many other uses, such as interactive learning, are already being explored. However, HRI also poses systems engineering challenges that may hinder its adoption. To address these, we advocate a general coordination pattern for task execution: The Task-State Pattern. Crucially, it separates interaction coordination from task-level control, thus enabling independent, but integrated, development. In the pattern, tasks are represented using both a general, re-usable task coordination model and a task-type dependent specification. We have introduced a coordination model rich enough to support a powerful user experience, but still general enough to accomodate a variety of tasks, thus simplifying architecture and integration. Furthermore, because it is re-used in many places, it provides an attractive target for tool support.
  • Coordination
  • software architecture
  • design pattern
  • dialog
  • human-robot-interaction


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