Scheduling Multi-robot Missions with Joint Tasks and Heterogeneous Robot Teams

Abstract

We present a work-in-progress approach to scheduling multi-robot missions comprising tasks that need to be performed by multiple robots. Our approach (1) supports the scheduling of such missions for heterogeneous robots, (2) can take into account dependability, performance and other nonfunctional requirements, and (3) guarantees compliance with mission requirements by using a combination of formal techniques to allocate the mission tasks to individual robots, and to plan the order in which each robot will execute its allocated tasks. We show the effectiveness of our approach by applying it to the scheduling of a multi-robot mission in a hospital-support application.