fig1

Figure 1. The relationship diagram between task cognition and task planning for service robots. Task cognition can be divided into two forms: RTC (①), where user text commands are parsed to extract task-related information, and ATC (②), where the environment is analyzed to infer potential tasks. Once the cognitive information is obtained, the task planner (③) then processes it to generate an executable action sequence. RTC: Reactive task cognition; ATC: active task cognition.