Vazquez Flores, Gricel, Calinescu, Radu orcid.org/0000-0002-2678-9260 and Camara, Javier (Accepted: 2022) Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems. In: Fourth Workshop on Formal Methods for Autonomous Systems. (In Press)
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 20 Sep 2022 10:30 |
Last Modified: | 11 Jan 2025 00:12 |
Status: | In Press |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:191117 |