Speaker:Tianshuang

Planning, Scheduling and Coordination for Refuel Scheduling on Aisle Graphs

Limited on-board power poses a significant challenge in field deployment of mobile robots for persistent and long-term autonomy. Refuel scheduling is a class of vehicle routing problems that arise in autonomous recharging of mobile robots. In this work, we consider the refuel scheduling problem for a team of mobile robots using a fleet of aerial vehicles. The contributions of this work are as follows. (1) We present a quadratic-time deconfliction algorithm for planning the motion of the mobile robots on aisle graphs. (2) We present a non-cooperative charger-station allocation strategy based on game-theoretic techniques, and present bounds on the efficiency of the equilibrium. (3) We propose schedules for the chargers to serve the robots, and derive scheduling parameters for persistent operation.

Committee: Sourabh Bhattacharya (major professor), Yan-Bin Jia, Guang Song, Tichakorn Wongpiromsarn, and James Oliver

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