论文标题
针对异构机器人系统的任务安排任务
Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems
论文作者
论文摘要
我们提出了多机器人任务（Kanoa）的正式任务分配和调度方法。 Kanoa支持两种重要类型的任务约束类型：任务排序，这需要按指定顺序执行多个任务；和联合任务，指示必须由多个机器人执行的任务。为了减轻机器人任务计划的复杂性，卡诺阿（Kanoa）处理任务分配给机器人，并分别处理分配任务的时间表。为此，任务分配问题以一阶逻辑形式化并使用合金模型分析仪解决，并且任务调度问题被编码为Markov决策过程，并使用Prism Promabilistic模型检查器解决。我们通过案例研究说明了Kanoa的应用，在该案例研究中，一个异质机器人团队被分配了医院维护任务。
We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot missions (KANOA). KANOA supports two important types of task constraints: task ordering, which requires the execution of several tasks in a specified order; and joint tasks, which indicates tasks that must be performed by more than one robot. To mitigate the complexity of robotic mission planning, KANOA handles the allocation of the mission tasks to robots, and the scheduling of the allocated tasks separately. To that end, the task allocation problem is formalised in first-order logic and resolved using the Alloy model analyzer, and the task scheduling problem is encoded as a Markov decision process and resolved using the PRISM probabilistic model checker. We illustrate the application of KANOA through a case study in which a heterogeneous robotic team is assigned a hospital maintenance mission.
