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Advisor(s)
Abstract(s)
This paper presents a novel approach for Multi-Robot Task Allocation (MRTA) that introduces
priority policies on preemptive task scheduling and considers dependencies between tasks, and
tolerates faults. The approach is referred to as Multi-Robot Preemptive Task Scheduling with Fault
Recovery (MRPF). It considers the interaction between running processes and their tasks for management
at each new event, prioritizing the more relevant tasks without idleness and latency. The benefit
of this approach is the optimization of production in smart factories, where autonomous robots are
being employed to improve efficiency and increase flexibility. The evaluation of MRPF is performed
through experimentation in small-scale warehouse logistics, referred to as Augmented Reality to
Enhanced Experimentation in Smart Warehouses (ARENA). An analysis of priority scheduling, task
preemption, and fault recovery is presented to show the benefits of the proposed approach.
Description
Keywords
Multi-robot task allocation Multi-robot preemptive task scheduling Fault recovery Smart factories Warehouse logistics
Citation
Kalempa, Vivian Cremer; Piardi, Luis; Limeira, Marcelo; Oliveira, André Schneider (2021). Multi-robot preemptive task scheduling with fault recovery: a novel approach to automatic logistics of smart factories. Sensors. ISSN 1424-8220. 21:19, p. 1-26