2018
DOI: 10.1609/icaps.v28i1.13909
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Embedding a Scheduler in Execution for a Planetary Rover

Abstract: Scheduling often takes place in the context of execution. This reality drives several key design decisions: (1) when to invoke (re) scheduling, (2) what to do when the scheduler is running, and (3) how to use the schedule to execute scheduled activities. We define these design decisions theoretically in the context of the embedded scheduler and practically in the context of the design of an embedded scheduler for a planetary rover. We use the concept of a commit window to enable execution to use the previou… Show more

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Cited by 8 publications
(4 citation statements)
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“…As variance increases, there will be situations where an activity finishes late and forces the execution system to handle the next back-to-back activity. The existing execution system is based on fixed start times and allows limited delays of activity start times (Chi et al 2018). Delays cannot always be handled and may result in an inconsistent schedule and unscheduled activities.…”
Section: Resultsmentioning
confidence: 99%
“…As variance increases, there will be situations where an activity finishes late and forces the execution system to handle the next back-to-back activity. The existing execution system is based on fixed start times and allows limited delays of activity start times (Chi et al 2018). Delays cannot always be handled and may result in an inconsistent schedule and unscheduled activities.…”
Section: Resultsmentioning
confidence: 99%
“…We run the brittleness analysis using a set of nine M2020 sol type task networks. These networks are representative of what is currently being investigated and applied to develop an onboard scheduler for the M2020 rover (Chi et al 2018).…”
Section: Setupmentioning
confidence: 99%
“…Planetary rover plans must be carefully designed and generated on the ground to allow successful execution of tasks while meeting all the required timing constraints and being safe at all times. Accurately determining some of those timing constraints a priori, specially activity duration, is quite challenging though due to the the natural unpredictability of the environment (Rabideau and Benowitz 2017; Chi et al 2018).…”
Section: Introductionmentioning
confidence: 99%
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