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We present a formal tasK AllocatioN and scheduling apprOAch for multi-robotmissions (KANOA). KANOA supports two important types of task constraints: taskordering, which requires the execution of several tasks in a specified order;and joint tasks, which indicates tasks that must be performed by more than onerobot. To mitigate the complexity of robotic mission planning, KANOA handlesthe allocation of the mission tasks to robots, and the scheduling of theallocated tasks separately. To that end, the task allocation problem isformalised in first-order logic and resolved using the Alloy model analyzer,and the task scheduling problem is encoded as a Markov decision process andresolved using the PRISM probabilistic model checker. We illustrate theapplication of KANOA through a case study in which a heterogeneous robotic teamis assigned a hospital maintenance mission.

Scheduling of Missions with Constrained Tasks for Heterogeneous Robot Systems