关键词：机器人开发；DESIRE项目
摘 要：In this paper we give a general overview of the development process carried out in the Desire project. This process can be roughly split up into four main phases, from specification in the beginning over two integration phases up to optimization in the end. With a large variety of technologies and expertise involved, the development of a complex service robot system such as the DESIRE technology platform proved to reveal many challenges on technical as well as organizational level. Several of these issues are highlighted in this paper with the goal to derive useful guidelines for other robotics projects.