TaBSA -- A framework for training and benchmarking algorithms scheduling tasks for mobile robots working in dynamic environments

TL;DR

TaBSA is an open-source software framework designed to benchmark and evaluate robot task scheduling algorithms in dynamic, uncertain environments, supporting both classical and AI methods for diverse applications.

Contribution

It introduces a standardized, configurable benchmarking system with scenario modeling, integration with ROS, and performance evaluation tools for robot scheduling algorithms.

Findings

Validated on patrol, fall assistance, and pick-and-place tasks.

Supports repeatable, comparable assessments across diverse scenarios.

Facilitates diagnosis and tuning of scheduling algorithms.

Abstract

This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human agents, tools for automated test generation, and performance evaluation. It supports both classical and AI-based methods, enabling repeatable, comparable assessments across diverse tasks and configurations. The framework facilitates diagnosis of algorithm behavior, identification of implementation flaws, and selection or tuning of strategies for specific applications. It includes a SysML-based domain-specific language for structured scenario modeling and integrates with the ROS-based system for runtime execution. Validated on patrol, fall assistance, and pick-and-place tasks, the open-source framework is suited for researchers and integrators developing and testing scheduling algorithms under real-world-inspired conditions.