Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems

Gricel V\'azquez (University of York); Javier C\'amara (University of M\'alaga); Radu Calinescu (University of York)

Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems

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arxiv 2209.14040 v1 pith:6DL6B54W submitted 2022-09-28 cs.LO cs.MAcs.RO

Gricel Vázquez (University of York) , Radu Calinescu (University of York) , Javier Cámara (University of Málaga) This is my paper · ORCID

classification cs.LOcs.MAcs.RO

keywords taskstaskkanoaschedulingallocationmissionheterogeneousmissions

verification ladder T0 review T1 audit T2 compute T3 formal

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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.

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