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Volume 12 Issue 10
Oct.  2025

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2025  >  12(10): 1985-2001
Y. Zhang, G. Tian, C. Zhang, C. Hua, W. Ding, and C. K. Ahn, “Environment modeling for service robots from a task execution perspective,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 10, pp. 1985–2001, Oct. 2025. doi: 10.1109/JAS.2025.125168
Citation: Y. Zhang, G. Tian, C. Zhang, C. Hua, W. Ding, and C. K. Ahn, “Environment modeling for service robots from a task execution perspective,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 10, pp. 1985–2001, Oct. 2025. doi: 10.1109/JAS.2025.125168
shu

Environment Modeling for Service Robots From a Task Execution Perspective

doi: 10.1109/JAS.2025.125168
Funds:  This work was supported in part by the National Natural Science Foundation of China (62203378, 62203377, 62073279), the Hebei Natural Science Foundation (F2024203036, F2024203115, F2025203101), the Science and Technology Program of Hebei (236Z2002G, 236Z1603G), the Science Research Project of Hebei Education Department (BJK2024195), and the National Research Foundation of Korea (NRF) Grant Funded by the Korea Government (Ministry of Science and ICT) (NRF-2020R1A2C1005449)
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    Abstract
  • 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-execution-oriented 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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