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This paper presents the application of the MASSiVE software-framework for the realization of service robotic tasks that are executed in a smart home environment. The framework has been designed according to the requirements to operate on base of distributed sensors and actuators as well as in mostly unstructured environment and in the proximity to human beings. Special aspects discussed here are the benefits coming from the semi-structuring of a task, such as an organization of environmental information required for manipulation. The motion planning approach in MASSiVE will be presented as being consistent with the framework and offering new contributions towards obstacle avoidance and real-time suitability.
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