Details

Autor(en) / Beteiligte

• Khaluf, Yara
• Markarian, Christine
• Simoens, Pieter
• Reina, Andreagiovanni

Titel

Scheduling Access to Shared Space in Multi-robot Systems

Ist Teil von

• Advances in Practical Applications of Cyber-Physical Multi-Agent Systems: The PAAMS Collection, p.144-156

Ort / Verlag

Cham: Springer International Publishing

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• 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.