Abstract

Combining tasks, melding their activities in sequence and in parallel, in order to achieve the desired goal is a challenging research topic. In many practical applications, tasks could be fulfilled even though the robot does not achieve a perfect matching with a given quantitative objective. Thus, it could be possible to carry out other activities, mildly conflicting with the current goal, yet providing benefits for the overall execution of a complex sequence of tasks. This paper proposes i) a criteria to evaluate the execution of a monitored task, ii) an enriched task specification to express the tolerance with which a goal is fulfilled, so that iii) a sequence of tasks can be executed concurrently, on the basis of monitored quantities. Furthermore, the paper reports a classification of conflicting scenarios for a finer selection of the scheduler policy. Finally, results from experimental scenarios show the potential benefits of the proposed methodology.

Experimental videos can be found in Multimedia
Presentation Slides
Paper on Lirias@KULeuven (openaccess)
Other sources: final version available on IEEEXplore
To Cite this work, please refer to the follow

@INPROCEEDINGS{
  ScioniIROS2014,
  author={Scioni, E. and Borghesan, G. and
    Bruyninckx, H. and Bonfe, M.},
  booktitle={Intelligent Robots and Systems (IROS 2014),
    2014 IEEE/RSJ International Conference on},
  title={A framework for formal specification of robotic
     constraint-based tasks and their concurrent execution
      with online qos monitoring},
  year={2014},
  month={Sept},
  pages={2963-2969},
  keywords={formal specification;monitoring;robots;
    scheduling;task analysis;concurrent execution;
    formal specification;online QoS monitoring;
    robotic constraint-based tasks;scheduler policy;
    task specification;Aerospace electronics;Joints;Mobile communication;Monitoring;
    Quality of service;Robot kinematics},
  doi={10.1109/IROS.2014.6942971},}