MULTI-ROBOT SYSTEMS SCHEDULING UNDER UNCERTAINTY CONSTRAINTS

摘要

Scheduling of multi-robot and a multi-product job shop treated as a multi-criteria (time and money) allocation problem of shared renewable and non-renewable resources is considered. Specified in terms of sets of decision variables, their domains and sets of constraints, i.e., as a constraint satisfaction problem, the multi-robot system scheduling can be directly implemented and resolved in constraint programming environment. Both accurate and uncertain decision variables are taken into account. In that context the proposed approach to constraints compression can be seen as paper's main contribution. The concept proposed enables us to improve the searching strategy by decreasing the number of backtrackings. Its implementation is illustrated by two kinds of problems corresponding to standard, routine-like questions: "what implies the conclusion?" and "what follows from premises?", consequently.