Implementing Resource Adequate Service Robot Behavior by Systematic Management of Non-Functional Properties: An Intralogistics Use Case

The primary focus in the development of service robotic systems is still mostly on purely functional concerns (what to do?). However, an important further aspect so far often neglected are the non-functional properties (NFPs) of task execution (how to do it?). In this paper, we briefly introduce our general approach for composing NFPs and for deciding about adequate execution alternatives. Then, we present a model for the time composition of an order picking task. Finally, we show in a practical experiment how a service robot executing an order picking task can balance the fulfilment of external nonfunctional requirements (meet deadline for order picking) and the consideration of internal needs (save energy).