Scheduling access to shared space in multi-robot systems

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationAdvances in Practical Applications of Cyber-Physical Multi-Agent Systems
Subtitle of host publicationThe PAAMS Collection - 15th International Conference, PAAMS 2017, Proceedings
EditorsYves Demazeau, Paul Davidsson, Zita Vale, Javier Bajo
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783319599298
Publication statusPublished - 2017
Externally publishedYes
Event15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017 - Porto, Portugal
Duration: 21 Jun 201723 Jun 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10349 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017


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