TY - GEN
T1 - Scheduling access to shared space in multi-robot systems
AU - Khaluf, Yara
AU - Markarian, Christine
AU - Simoens, Pieter
AU - Reina, Andreagiovanni
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
U2 - 10.1007/978-3-319-59930-4_12
DO - 10.1007/978-3-319-59930-4_12
M3 - Conference paper
AN - SCOPUS:85021768037
SN - 9783319599298
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 144
EP - 156
BT - Advances in Practical Applications of Cyber-Physical Multi-Agent Systems
A2 - Demazeau, Yves
A2 - Davidsson, Paul
A2 - Vale, Zita
A2 - Bajo, Javier
PB - Springer
T2 - 15th International Conference on Practical Applications of Agents and Multi-Agent Systems, PAAMS 2017
Y2 - 21 June 2017 through 23 June 2017
ER -