Paper Info
Title
Preview Coordination: An Enhanced Execution Model For Online Scheduling Of Mobile Manipulation Tasks
Abstract
Task specification models define the activities to be executed by a robot in order to achieve its goal. Classical examples are the sequences involved in assembly or pick and place tasks. This work introduces the preview coordination execution model, an extension to the traditional way in which the execution of such task specifications is coordinated at runtime. Instead of taking activities one-by-one as defined in the task specification model, preview coordination optimizes the task scheduling based on knowledge about the likelihood that not just the activities required by the current state can be executed, but that also one or more of those related to future states of the system can be activated. An experiment with mobile manipulation tasks illustrates the benefits of preview coordination.
Year
Venue
Keywords
2013
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
mobile robots,scheduling,formal specification,task analysis
Field
DocType
ISSN
Task analysis,Scheduling (computing),Computer science,Formal specification,Execution model,SMT placement equipment,Robot,Mobile robot,Distributed computing
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Enea Scioni111.71
Markus Klotzbücher2504.29
Tinne De Laet321724.63
Herman Bruyninckx4893108.95
Marcello Bonfé56612.78