User-centric real time service scheduling for robots

Service robots are required to reschedule the tasks for service continuously to adapt to uncertain and dynamic environment in real time and react appropriately to a request received from many users. Typically the task scheduling is to improve performance of robot system by managing the resource of them efficiently. This however is not considered the user satisfaction for robot service since it does not take into account information designated by the user. This paper proposes a user-centric scheduling scheme which makes use of service-related user information such as request time, deadline and service location of robot service for user satisfaction and robot autonomy. The simulation is implemented to verify the feasibility of the proposed scheme with several scenarios on mobile robot in the simulated office environment. The results show that the proposed scheduling scheme improves performance of the robot system as well as level of user´s satisfaction for services.