从任务执行角度梳理服务机器人环境建模技术，助力家庭场景落地。
Environment Modeling for Service Robots From a Task Execution Perspective
- 以任务执行需求为导向，系统梳理环境建模关键技术
- 覆盖定位、导航、操作与长期自主四大核心环节
- 适合关注家庭机器人实用化的研究者和开发者
服务机器人正逐步进入家庭，为居民提供家务服务。然而，在开放、动态且非结构化的家庭环境中，服务机器人仍面临任务执行智能低、长期自主性差等问题，限制了其实际部署。作为机器人任务执行的基础，环境建模已受到广泛关注，整合了环境感知、理解与表征等核心技术，用于准确识别环境信息。本文从任务执行导向的新视角出发，全面综述了家庭场景下面向任务执行的环境建模进展，重点从四个方面系统回顾：1）定位，2）导航，3）操作，4）长期自主性（LTA）。同时分析当前挑战，并提出潜在的研究方向。
原文摘要 · Abstract (English)
Service robots are increasingly entering the home to provide domestic tasks for residents. However, when working in an open, dynamic, and unstructured home environment, service robots still face challenges such as low intelligence for task execution and poor long-term autonomy (LTA), which has limited their deployment. As the basis of robotic task execution, environment modeling has attracted significant attention. This integrates core technologies such as environment perception, understanding, and representation to accurately recognize environmental information. This paper presents a comprehensive survey of environmental modeling from a new task-executionoriented perspective. In particular, guided by the requirements of robots in performing domestic service tasks in the home environment, we systematically review the progress that has been made in task-execution-oriented environmental modeling in four respects: 1) localization, 2) navigation, 3) manipulation, and 4) LTA. Current challenges are discussed, and potential research opportunities are also highlighted.
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