CORAL Group - Carnegie Mellon University

CoBot Robots

Task Scheduling and Planning

We envision a system in which autonomous mobile robots robustly perform service tasks in indoor environments. The robots perform tasks which are requested by building residents over the web, such as delivering mail, fetching coffee, or guiding visitors. Examples of scheduling tasks and performing them are in the following video.

Task Scheduling

To fulfill the users' requests, we must plan a schedule of when a robot will execute each task in accordance with the constraints specified by the users. We schedule the robots using a mixed integer programming approach.

Task Planning

To execute tasks, CoBot uses a finite state machine. Based on its location, and the locations of its destinations, it speaks and displays information on its screen, navigates to locations and creates subplans to navigate to elevators and to seek help when it requires it.