109 urn:lsid:arphahub.com:pub:3dc5f44e-8666-58db-bc76-a455210e8891 JUCS - Journal of Universal Computer Science jucs 0948-695X 0948-6968 Journal of Universal Computer Science 10.3217/jucs-008-08-0808 27904 Research Article D.4.1 - Process Management I.2.9 - Robotics Scheduling Tasks to a Team of Autonomous Mobile Service Robots in Indoor Enviroments Surmann Hartmut surmann@ais.fhg.de 1 Morales Antonio 2 Fraunhofer Institute for Autonomous Intelligent Systems (AIS), Schloss Birlinghoven, , Germany Fraunhofer Institute for Autonomous Intelligent Systems (AIS), Schloss Birlinghoven Germany Jaume-I University, Robotic Intelligence Laboratory, Campus Riu Sec, Castellon, Spain Jaume-I University, Robotic Intelligence Laboratory, Campus Riu Sec Castellon Spain

Corresponding author: Hartmut Surmann (surmann@ais.fhg.de).

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2002 28 08 2002 8 8 808 832 BECF9180-E60A-5B10-A96D-1B720A316829 6996217 Hartmut Surmann, Antonio Morales This article is freely available under the J.UCS Open Content License.

This paper presents a complete system for scheduling transportation orders to a fleet of autonomous mobile robots in service environments. It consists of the autonomous mobile robots, a user friendly interface to acquire the orders for the robots via internet and to store them in a database, a general language for modeling multistorey buildings with XML and the scheduling algorithms. The model description of the buildings is used to plan the paths for the robots and to estimate the cost and times for the orders. One challenging key problem - the multi robot cooperation - is solved by the scheduling algorithms and by giving autonomy to the service robots.