Scheduling Access to Shared Space in Multi-robot Systems

Y. Khaluf, C. Markarian, P. Simoens, A. Reina, in: International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017), Cham, 2017.

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Conference Paper | Published | English
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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 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.
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International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017)
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Khaluf Y, Markarian C, Simoens P, Reina A. Scheduling Access to Shared Space in Multi-robot Systems. In: International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017). ; 2017. doi:10.1007/978-3-319-59930-4_12
Khaluf, Y., Markarian, C., Simoens, P., & Reina, A. (2017). Scheduling Access to Shared Space in Multi-robot Systems. International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017). https://doi.org/10.1007/978-3-319-59930-4_12
@inproceedings{Khaluf_Markarian_Simoens_Reina_2017, place={Cham}, title={Scheduling Access to Shared Space in Multi-robot Systems}, DOI={10.1007/978-3-319-59930-4_12}, booktitle={International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017)}, author={Khaluf, Yara and Markarian, Christine and Simoens, Pieter and Reina, Andreagiovanni}, year={2017} }
Khaluf, Yara, Christine Markarian, Pieter Simoens, and Andreagiovanni Reina. “Scheduling Access to Shared Space in Multi-Robot Systems.” In International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017). Cham, 2017. https://doi.org/10.1007/978-3-319-59930-4_12.
Y. Khaluf, C. Markarian, P. Simoens, and A. Reina, “Scheduling Access to Shared Space in Multi-robot Systems,” 2017, doi: 10.1007/978-3-319-59930-4_12.
Khaluf, Yara, et al. “Scheduling Access to Shared Space in Multi-Robot Systems.” International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS 2017), 2017, doi:10.1007/978-3-319-59930-4_12.

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