Mobile Robot Task Planning and Scheduling in Retirement Homes
J. Christopher Beck
Kyle E. C. Booth
Tony T. Tran
We study the planning and scheduling of single and multi-robot fleets to be deployed within retirement homes. Such
robots must autonomously organize and facilitate a variety of group and individual activities (i.e. bingo games,
telepresence activities) within the facility for a group of human users (residents). The problem of assigning tasks
to robots can be thought of as an instance of multi-robot task allocation (MRTA), with an additional scheduling component
(determining specific task start times).
Within this project, we investigate the use of various combinatorial optimization technologies, including mixed-integer programming (MIP)
and constraint programming (CP), to solve the underlying MRTA problem. We also investigate a number of more sophisticated techniques to improve
the efficiency at which high quality solutions are generated, including variable ordering heuristics, local search procedures, and problem-specific
decompositions. The developed models are integrated within real-world
robot architectures and physically validated at our facility at the University of Toronto, with plans for deployment in
real retirement homes within Toronto.
Natural Sciences & Engineering Research Council of Canada (NSERC)
Dr. Robot Inc.
Canada Research Chairs (CRC) Program
University of Toronto Fellowship
TIDEL Research Assistantship
Ontario Graduate Scholarship in Science and Technology (OGSST)
- Tran, T.T., Vaquero, T., Nejat, G., & Beck J.C., Robots in Retirement Homes: Applying Off-the-Shelf Planning and Scheduling to a Team of Assistive Robots, Journal of Artificial Intelligence Research, 58, 523-590, 2017.
- Booth, K.E.C., Nejat, G., & Beck, J.C., "A Constraint Programming Approach to Multi-Robot Task Allocation and Scheduling in Retirement Homes", Proceedings of the Twenty-Second International Conference on Principles and Practice of Constraint Programming, (CP2016), 539-555, 2016.
- Booth, K.E.C., Tran, T.T., Nejat, G., & Beck J.C., Mixed-Integer and Constraint Programming Techniques for Mobile Robot Task Planning, IEEE Robotics and Automation Letters, 1(1), 500-507, 2016.
- Louie, W.-Y.G., Vaquero, T.S., Nejat, G., & Beck, J.C., "An Autonomous Assistive Robot for Planning, Scheduling and Facilitating Multi-User Activities", Proceedings of the 2014 International Conference on Robotics and Automation, (ICRA2014), 5292-5298, 2014.