Efficient task management for home service-robot in intelligent space

In this paper, we design agent-based architecture for home automatic system, and propose a task management algorithm for home service-robot. At first, we explain the concept of Intelligent Space as a good platform for applying to home automatic system, and describe a resource sharing architecture (RSA) for context-awareness in the system. The characteristic of the task management algorithm proposed in this paper is to delegate the task interrupted by a robot or some event to other robots on standby, to reallocate the delayed task to other robots, and to reduce over-allocation. In the simulation, we set up three scenarios (guidance, cleaning, emergency alarm) to evaluate the algorithm. In the result of the simulation, the proposed algorithm accomplishes the assigned task that the ratio of the task delay is within about ±5%, and the reliability about the deadline of the task is an average of 84.5%. From the result of the simulation, we show that the proposed algorithm manages the task of robots dynamically.