[2209.14040v1] Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems
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Computer Science > Logic in Computer Science

arXiv:2209.14040v1 (cs)
[Submitted on 28 Sep 2022]

Title:Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems

Authors:Gricel Vázquez (University of York), Radu Calinescu (University of York), Javier Cámara (University of Málaga)
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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.
Comments: In Proceedings FMAS2022 ASYDE2022, arXiv:2209.13181
Subjects: Logic in Computer Science (cs.LO); Multiagent Systems (cs.MA); Robotics (cs.RO)
ACM classes: I.2.11; D.4.1
Cite as: arXiv:2209.14040 [cs.LO]
  (or arXiv:2209.14040v1 [cs.LO] for this version)
  https://doi.org/10.48550/arXiv.2209.14040
Journal reference: EPTCS 371, 2022, pp. 156-174
Related DOI: https://doi.org/10.4204/EPTCS.371.11

Submission history

From: EPTCS [view email] [via EPTCS proxy]
[v1] Wed, 28 Sep 2022 12:24:51 UTC (1,662 KB)
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