Multi-robot task scheduling

Yu Zhang, Lynne E. Parker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

Abstract

The scheduling problem has been studied extensively in the literature. Many algorithms have been developed to operate with different types of processors and tasks. In the robotics domain, when considering each robot as a processor, some of these algorithms can be directly adapted. However, most of the existing algorithms can only handle single-robot tasks, or multi-robot tasks that can be divided into single-robot tasks. As the task requirements may only be partially known, and the available (heterogeneous) robots can dynamically change, robots may be required to cooperate tightly to share different capabilities (i.e., sensors and motors). In such cases, considering scheduling for individual robots is no longer sufficient, since the robots need to work at the coalition level. Although there exist a few algorithms that also support these more complex cases, they do not represent efficient solutions that can be adapted by various multi-robot systems in a convenient manner. In this paper, we propose heuristics to address the multi-robot task scheduling problem at the coalition level, which hides the details of robot specifications, thus allowing these heuristics to be incorporated straightforwardly. These heuristics are easy to implement and efficient enough to run in real time. We provide formal analyses and simulation results to demonstrate and compare their performances.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2992-2998
Number of pages7
DOIs
StatePublished - Nov 14 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Zhang, Y., & Parker, L. E. (2013). Multi-robot task scheduling. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 2992-2998). [6630992] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630992