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An Interleaved Approach to Trait-Based Task Allocation and Scheduling
[article]
2021
arXiv
pre-print
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for the time taken to execute motion plans. ...
Specifically, heterogeneous multi-robot systems must answer three important questions: who (task allocation), when (scheduling), and how (motion planning). ...
ITAGS computes an allocation of robots to tasks while simultaneously optimizing the satisfaction of task requirements and the makespan (i.e. execution time) of the associated schedule. ...
arXiv:2108.02773v1
fatcat:5sfehws33rdw7b4ljklyrzjwzu
A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks
2019
2019 International Conference on Robotics and Automation (ICRA)
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We like to thank the researchers of the Robotic perception group (ROP) at the Czech Institute of Informatics, Robotics and Cybernetics (CIIRC CTU) for providing the KUKA simulation environment. ...
This work is partially supported by the Swedish Knowledge Foundation project "Semantic Robots". ...
Conclusion and Future Work In this paper, We have proposed a flexible model and solver for simultaneous task allocation and motion scheduling (STAAMS) for industrial manipulation and assembly tasks for ...
doi:10.1109/icra.2019.8794022
dblp:conf/icra/BehrensLM19
fatcat:kulhal3cv5eifc3yy6p3m4jnyi
Coordination of two robotic manipulators for object retrieval in clutter
[article]
2021
arXiv
pre-print
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With two robots, the relocation could be done efficiently by simultaneously performing relocation tasks. ...
However, the precedence constraint between the tasks (e.g, some objects at the front should be removed to manipulate the objects in the back) makes the simultaneous task execution difficult. ...
The methods proposed in [19] , [20] integrate task allocation and motion scheduling for task optimization for dual-arm coordination. ...
arXiv:2109.15220v1
fatcat:ozpmundlerhinj46q6n6py6ibu
An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams
2021
Zenodo
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This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. ...
In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problems, without complex and cross-schedule ...
agents that can execute multiple tasks simultaneously, multi-agent tasks, i.e, tasks which requires multiple agents, and, finally, time-extended assignments, i.e. the allocation considers also future ...
doi:10.5281/zenodo.4954950
fatcat:k3vwzo57ajgapdwlgitshtlxmy
A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks
[article]
2019
arXiv
pre-print
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We propose a constraint programming approach to simultaneous task allocation and motion scheduling for such industrial manipulation and assembly tasks. ...
Our solver integrates such task models and robot motion models into constraint optimization problems and solves them efficiently using various heuristics to produce makespan-optimized robot programs. ...
The authors thank the project Robotics for ...
arXiv:1901.07914v1
fatcat:l3u2qg2aznaozh5amtwh6yyvwq
Towards a Tool-based Methodology for Developing Software for Dynamic Robot Teams
2018
Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics
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those steps to possible robot teams with compatible skills and calculating collision-free execution schedules with a high degree of parallelization to improve cycle times. ...
In this setting, complexity of planning and programming such robotic applications grows due to the drastic increase in flexibility, performance and robustness required. ...
ACKNOWLEDGEMENTS This work is partly funded by the German Research Foundation (DFG) under the TeamBotS grant. ...
doi:10.5220/0006884806150622
dblp:conf/icinco/GluckHNSRV18
fatcat:6gefvsbfmzbwfdz3puh55fjrqi
Flexible and continuous execution of real-time critical robotic tasks
2014
International Journal of Mechatronics and Automation
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This article describes a flexible and extensible interface for the specification and continuous execution of robotic tasks. ...
Therefore, we propose an architecture based on the separation of application control and the execution of real-time robotic tasks. ...
A Robot Control Core can execute multiple primitive nets simultaneously, but those nets must not access the same resources. ...
doi:10.1504/ijma.2014.059773
fatcat:ijun7xyoxjbwfijyk4kfongxcm
Resource scheduling and load balancing in distributed robotic control systems
2003
Robotics and Autonomous Systems
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Two of the major challenges facing such a system are the scheduling of access to system resources and the distribution of work across multiple workstations. ...
As the robots themselves have very limited computational capabilities, a distributed control system is needed to coordinate tasks among a large number of robots. ...
G155, Program Code No. 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008. ...
doi:10.1016/s0921-8890(03)00075-7
fatcat:o5dgkey5ybfl3kju23kxaubc3i
Scheduling Access to Shared Space in Multi-robot Systems
[chapter]
2017
Lecture Notes in Computer Science
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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 ...
To illustrate this idea, we present an exemplified algorithm that plans and assigns a motion path to each robot. ...
In fact, in our study, tasks are not pieces of code to execute (as in traditional scheduling), but tasks are robot motions which are characterized by stochastic execution times. ...
doi:10.1007/978-3-319-59930-4_12
fatcat:64tyy6vr45d7dea7ej73dcrslu
A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems
2010
IEICE transactions on information and systems
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It provides efficient exchange of generated data as well as a generic scheme for task execution and robot coordination. ...
In this respect high functional robots are equipped with many sensors and actuators and run multiple processing modules in parallel. ...
Special thanks to the entire MuRoLa team for their support and also to Dr. K. Kühnlenz and S. Sosnowski for the provision of EDDIE. ...
doi:10.1587/transinf.e93.d.1352
fatcat:3gj34miyzzgmrbz5pn35rtvu44
Sharing control [multiple miniature robots]
2002
IEEE robotics & automation magazine
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We plan to explore new communications technologies in order to increase the range and data rate of the RF communications link. ...
Keywords Multiple robots, mobile robots, distributed software architecture, resource allocation. ...
This work has also been supported in part by the Microsoft Corporation and the Idaho National Engineering and Environmental Laboratory (INEEL). ...
doi:10.1109/mra.2002.1160070
fatcat:c5ac6wyjebaztinshtblz47pce
Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution
2009
IEEE/ASME transactions on mechatronics
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The overall solution quality is dependent on both the quality of the solution constructed by the paths of robots and the efficient allocation of the targets to robots. ...
Index Terms-Distributed multirobot task allocation, incremental task selection, multiple traveling robot problem (MTRP), robustness. ...
Koenig, and P. Keskinocak for helpful discussions. ...
doi:10.1109/tmech.2009.2014157
fatcat:vpo6sglsvzc3zg3wjfvwtdszvu
Towards Computational Awareness in Autonomous Robots: An Empirical Study of Computational Kernels
[article]
2021
arXiv
pre-print
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Specifically, we conduct a data-driven study of the timing, power, and memory performance of kernels for localization and mapping, path planning, task allocation, depth estimation, and optical flow, across ...
We profile and analyze these kernels to provide insight into scheduling and dynamic resource management for computation-aware autonomous robots. ...
Task Allocation Single robots and multi-robot teams often have multiple high-level tasks to complete over a mission, with the tasks potentially streaming in or changing in nature over time (see the left ...
arXiv:2112.10303v1
fatcat:zz3rfw5wjnfcvgq7alblj2rpn4
Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)
2016
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)
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Moreover, the desired tasks may be too complex for one single robot, whereas it can be effectively done by multiple robots [1] [2] [3] . ...
We assume that sub-tasks allocated to robot must be ordered into a schedule = ( , , ′ ), … … , , , ′ for 1 ≤ ≤ where is the subtask performed from time ′ . ...
doi:10.1109/amc.2016.7496328
dblp:conf/amc/AbukhalilPPS16
fatcat:bn7t3zo67vfjtnxnrydb2gabnm
Development of ROS2-TMS: new software platform for informationally structured environment
2022
ROBOMECH Journal
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In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform. ...
An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots ...
physical and virtual domains" (funding agency: NEDO). ...
doi:10.1186/s40648-021-00216-2
doaj:94bf3423dd1c4e91ad880837f5edb3fa
fatcat:za6zrdh54ndplcvmiwxo4sag64
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