Personalization of Dynamically Loaded Service

     
 

      



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The user touched the robot sleeping.

R "What's the matter with you?" U "Come on, Follow me." R

The robot started the special behavior Turn-and-Search, saying "Where are you?" # if (The robot could not find the human after turning 360 degrees) then goto

4;

# if (The robot found human) then goto

4 5 6

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The robot missed the Turn-and-Search.

R The robot entered sleeping mode saying, "Sorry, I could not find you." I

7

R

8

R

The robot found the user. The robot started following the user, saying "I found you, I'll start

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behaviors;

The user touched the robot.

R The robot entered sleeping mode.

R

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# if (The robot found the human) then succeed the behavior;

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The robot turns the angle of its camera's view, and will stay still and find the human. # if The robot doesn’t find the human after turning 360 degrees) then fail the behavior; # if (The robot doesn't find the human for ten seconds) then goto

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# if (The robot finds the human) then succeed the behavior;

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R R U R R I 6 R 0 1 2 3 4 5

7 8 9 10 11 12 13 14 15

I R R R U R R I R

F

17 R E

The robot stays still, until the robot will recognize the human by its

# if (The robot doesn't find the human for ten seconds) then goto

E

16 R E

The robot lost the user.

camera.

E F F F

15 R F

*** special behavior Turn-and-Search ***

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R I R U

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U "Yes."

# goto

7 8 9 10

* 13 R F

R "May I stop following you?"

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distance from the user.

8

E E E E E E

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following you." The robot modified its position and pose to keep an appropriate

# The robot repeated

9 10 11 12 13

*

6;

R R U R R I

The robot entered the building, and started the EA4-5. "Where are you going?" "Prof. Kidode's room." "Come on, let's go" The robot started topological moving to the goal. The robot reached a corner. The robot pointed a hand and turned to the direction of the goal, saying "Turn to ***" # The robot repeated 5 and 6 n times The robot got a socket message from Prof. Kidode, while navigating the user to the goal. The robot stopped there, and said "I've just got a message." "I'm Kidode, I'll be late for your appointment about 5 minutes, because of meeting now" "Do you reply anything?" "Yes." "I see. I'll wait in your room." The robot send the message to the message server, saying "O.K. I'll send your message." The robot restarted the topological moving. The robot reached the goal. The robot stopped, and said "I've just reached the goal."

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18 R E 19 U E 20 R E 21 R F * 22 R F 23 24 25 * 26 27 28

I R U R I R

F F F E E E

The robot entered the building, and started the EA4-5. "Where are you going?" "Prof. Kidode's room." "Come on, let's go" The robot started topological moving to the goal. The robot reached a corner. The robot pointed a hand and turned to the direction of the goal, saying "Turn to ***" The robot restarted topological moving to the goal. The user touched the moving robot. The robot stopped and said "What's the matter with you?" "Come on, Follow me." The robot repeated the special behavior Turn-and-Search, saying "Where are you?" The robot got a socket message from Prof. Kidode, while searching the user. The robot repeated the special behavior Turn-and-Search, saying "Where are you?" The robot found the user. The robot started following the user, saying "I found you, I'll start following you." The robot stopped there, and said "I've just got a message." "I'm Kidode, I'll be about five minutes late for my appointment because I'm still in a meeting." "Do you have a reply?" "Yes." "I see. I'll wait in your room." The robot sent the message to the message server, saying "O.K. I'll send your message." The robot resumed following the user. The robot repeated a modification of its positions and pose to keep an appropriate distance from the user. The user touched the robot. "May I stop following you?" "Yes." The robot restarted topological moving to the goal. The robot reached the goal. The robot stopped, and said "I've just reached the goal."

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