Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control

Sandra Mau and John M. Dolan
Workshop on Planning and Scheduling for Space, October, 2006.


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Abstract
This paper proposes the use of on-line scheduling in human telesupervision of robot teams to determine and maximize the number of robots a human operator can manage at once. To maximize the number of robots in a team, the double- Shifted Shortest Processing Time (dSSPT) algorithm was proposed for this purpose. This scheduling algorithm has the objective of minimizing total downtime (or flow time) for the group. Simulated experimental results show that dSSPT: 1) reduces downtime with respect to existing scheduling algorithms; and 2) increases the achievable span-of-control (i.e., the number of robots supervised) in a human-multirobot team compared to an existing method of prediction [3], especially as the variation in task lengths increases.

Keywords
supervisory control, human robot interaction, scheduling

Notes
Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics
Associated Project(s): Wide Area Prospecting Using Supervised Autonomous Robots

Text Reference
Sandra Mau and John M. Dolan, "Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control," Workshop on Planning and Scheduling for Space, October, 2006.

BibTeX Reference
@inproceedings{Mau_2006_5553,
   author = "Sandra Mau and John M Dolan",
   title = "Scheduling to Minimize Downtime in Human-Multirobot Supervisory Control",
   booktitle = "Workshop on Planning and Scheduling for Space",
   month = "October",
   year = "2006",
}