Abstract:
Activity-level space scheduling involves allocating site space over time to static
and dynamic construction resources such as robots. The resulting coarse layouts
pertaining to activity-related time intervals serve to coordinate the motion planning of multiple robots. This cannot be done with existing motion planning tools, as computational demands make path-planning for multiple robots in dynamic environments prohibitively expensive. An interactive and graphical decision-support tool, named MovePlan, is presented to assist in space scheduling. Its output layouts can be used to refine individual robot's trajectories using traditional path-planning algorithms.
