Name
Abstract | ||
|---|---|---|
We present a solution that enables robots to operate in long-duration missions with minimal interruption for recharging or refreshing other resources. Consider a set of deployed "task robots" that request resources (e.g. batteries) from a distribution center, which can deploy "delivery robots" to fulfill those requests. We address the scheduling problem with multiple incoming time-bound requests from the task robots. Our proposed framework incorporates priorities on working robots that can be adjusted by a human operator during scheduling, since mission priorities can change over time. The framework allows a relaxed delivery schedule when available resources are scant and permits dynamic re-routing of delivery robots. The problem is posed as a variant of the Vehicle Routing Problem with Time Windows, and solved as a Mixed Integer Quadratic Program using a branch and bound based solver. We present the specific case of a battery distribution system and validate the results in simulation. |
Year | Venue | Field |
|---|---|---|
2015 | 2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | Vehicle routing problem,Branch and bound,Job shop scheduling,Scheduling (computing),Real-time computing,Integer programming,Solver,Engineering,Quadratic programming,Robot |
DocType | ISSN | Citations |
Conference | 2161-8070 | 1 |
PageRank | References | Authors |
0.35 | 17 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nitin Kamra | 1 | 25 | 4.17 |
| Nora Ayanian | 2 | 123 | 16.66 |