Schiffer, Stefan2018-01-082018-01-0820162016https://dl.gi.de/handle/20.500.12116/11545In this paper we discuss a system layout for cognitive service robots and our implementation of such a system. Our focus is on integrating qualitative reasoning and human-robot interaction. After introducing the domestic service robotics domain with its challenges and the RoboCup@Home initiative we present our robot platform, its basic capabilities and its high-level reasoning system. Then, we discuss a system layout for a cognitive service robot in domestic domains, and we show how components of our service robot implement elements of such a system layout. We discuss strengths and limitations of these components and of the overall system.Domestic service roboticsHuman-robot interactionQualitative reasoningRoboCup@HomeSituation calculusText/Journal Article1610-1987