Paper Info
Title
Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems.
Abstract
We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot missions (KANOA). KANOA supports two important types of task constraints: task ordering, which requires the execution of several tasks in a specified order; and joint tasks, which indicates tasks that must be performed by more than one robot. To mitigate the complexity of robotic mission planning, KANOA handles the allocation of the mission tasks to robots, and the scheduling of the allocated tasks separately. To that end, the task allocation problem is formalised in first-order logic and resolved using the Alloy model analyzer, and the task scheduling problem is encoded as a Markov decision process and resolved using the PRISM probabilistic model checker. We illustrate the application of KANOA through a case study in which a heterogeneous robotic team is assigned a hospital maintenance mission.
Year
DOI
Venue
2022
10.4204/EPTCS.371.11
Workshop on Formal Methods for Autonomous Systems (FMAS)
DocType
ISSN
Citations 
Conference
EPTCS 371, 2022, pp. 156-174
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Gricel Vázquez100.68
Radu Calinescu290563.01
Javier Cámara301.69