# Where to look first? Behaviour control for fetch-and-carry missions of service robots

Source: [Where to look first? Behaviour control for fetch-and-carry missions of service robots](<https://www.sota2.com/research/paper/68fa62171e209131ce9f77a9>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2025-10-25T20:12:29.814Z

Authors: Markus Bajones, Daniel Wolf, Johann Prankl, Markus Vincze

Published: 2015-10-06T12:43:52.000Z

## Abstract

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of efficiency and human-oriented perception. The proposed behaviour controller provides an informed intelligent search based on a semantic segmentation framework for indoor scenes and integrates it with object recognition and grasping. Instead of manually annotating search positions in the environment, the framework automatically suggests likely locations to search for an object based on contextual information, e.g. next to tables and shelves. In a preliminary set of experiments we demonstrate that this behaviour control is as efficient as using manually annotated locations. Moreover, we argue that our approach will reduce the intensity of labour associated with programming fetch-and-carry tasks for service robots and that it will be perceived as more human-oriented.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/1510.01554>)

[PDF](<https://arxiv.org/pdf/1510.01554.pdf>)