Parallel Task Scheduling in Autonomous Robotic Systems: An Event-Driven Multimodal Prediction Approach
Wen Zheng Gao, Zhiwen Yu, Hui Yun Xiong, Bin Guo, Liang Wang, Yuan Yao · 2024
In autonomous robotic systems, the parallel processing of multiple tasks often competes for limited resources, affecting system performance and the robot’s responsiveness to environmental changes. Traditional computational task scheduling methods often overlook the dynamic nature of task priorities in autonomous robotic systems, where task importance can shift based on interactions with the external environment. Therefore, there’s a crucial need for a mechanism capable of adaptively adjusting task scheduling in response to environmental changes, ensuring timely access to resources for critical tasks. To address this challenge, this study presents Priorest, a neural network model that incorporates multimodal data processing and multitask learning. Priorest integrates sensor data with logs monitoring computational device performance to predict events influencing task priority, enabling task adjustments while preserving essential resource allocations. When deployed in autonomous robotic systems, Priorest’s event-prediction-based adjustment strategy reduced critical task completion times by 18.7%, which demonstrates the effectiveness of Priorest in enhancing parallel task scheduling.