In 11th International Workshop on Planning and Scheduling for Space (IWPSS 2019), pages 7–15, Berkeley, California, USA, July, 2019. Also appears at the 29th International Conference on Automated Planning and Scheduling (ICAPS) Workshop PlanRob 2019 and ICAPS SPARK 2019 and ICAPS IntEx 2019Paper abstract bibtex
We describe three approaches to enabling an extremely computationally limited embedded scheduler to consider a small number of alternative activities based on resource availability. We consider the case where the scheduler is so computationally limited that it cannot backtrack search. The first two approaches precompile resource checks (calleguards) that only enable selection of a preferred alternative activity if sufficient resources are estimated to be available to schedule the remaining activities. The final approach mimics backtracking by invoking the scheduler multiple times with the alternative activities. We present an evaluation of these techniques on mission scenarios (called sol types) from NASA's next planetary rover where these techniques are being evaluated for inclusion in an onboard scheduler.