Khaluf, Y., Markarian, C., Simoens, P. et al. (1 more author) (2017) Scheduling access to shared space in multi-robot systems. In: Demazeau, Y., Davidsson, P., Bajo, J. and Vale, Z., (eds.) Advances in Practical Applications of Cyber-Physical Multi-Agent Systems: The PAAMS Collection. 15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017, June 21-23, 2017, Porto, Portugal. Lecture Notes in Computer Science (10349 ). Springer, Cham , pp. 144-156. ISBN 9783319599298
Abstract
Through this study, we introduce the idea of applying scheduling techniques to allocate spatial resources that are shared among multiple robots moving in a static environment and having temporal constraints on the arrival time to destinations. To illustrate this idea, we present an exemplified algorithm that plans and assigns a motion path to each robot. The considered problem is particularly challenging because: (i) the robots share the same environment and thus the planner must take into account overlapping paths which cannot happen at the same time; (ii) there are time deadlines thus the planner must deal with temporal constraints; (iii) new requests arrive without a priori knowledge thus the planner must be able to add new paths online and adjust old plans; (iv) the robot motion is subject to noise thus the planner must be reactive to adapt to online changes. We showcase the functioning of the proposed algorithm through a set of agent-based simulations.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © Springer International Publishing AG 2017. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 25 Jul 2017 15:34 |
Last Modified: | 27 Nov 2017 13:46 |
Published Version: | https://doi.org/10.1007/978-3-319-59930-4_12 |
Status: | Published |
Publisher: | Springer, Cham |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-319-59930-4_12 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:119374 |