anenriquez/mrta

mrta's Issues

Dispatchable graph at the beginning of a round might differ from the dispatchable graph at closure time

If a task is dispatched while an auction round is open, the dispatchable_graph used for computing the bid will no longer be valid.
Possible solution:
Check that the dispatchable_graph is the same before and after dispatching the task.
If that is not the case, repeat the auction round with the correct dispatchable_graph.

Getting Started

Hi An, i would love to use you project but i have a rough start bringing it to work.

1. I installed all the requirements from the other repositories. I cloned it to my home/usr/ and ran the commands.
2. I Installed this repository, from top to bottom - even with and without docker. Then i want to run the experiements..

As I understand, i have to go to cd ~/mrta/mrs because there is the robot_proxy.py-file and run python3 robot_proxy.py robot_001 --experiment non_intentional_delays --approach tessi-corrective-re-allocate

Then i get the following Error:

Maybe it is obvious for you what i miss, if not i can give more information.. I would appreciate an answer very much! Thanks!

Robot uses a combination of its dispatchable graph and the STN of a new task when computing bids

An STN represents tasks with temporal constraints.
A dispatchable graph is a dispatchable version of the STN which bounds the original constraints to make the STN consistent.
When computing the bid for a new task, the STN should be used.
In the current version, the new task is added to the dispatchable graph but not to the STN.

Possible solution:
Store the STN
Add task to STN and compute new dispatchable graph
If the dispatchable graph is allocated to the robot, update both, the STN and the dispatchable graph.

Bid reception depends on round_time

Depending on the number of tasks, sometimes a robot places a bid after the round_time has closed.
Possible solution:
Tune auctioner round_time to be some time before the start of the earliest task in TASK-ANNOUNCEMENT msg or as soon as a bid (or no-bid) from all robots is received.