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Autonomous Mobile Robots (AMRs) rely on rechargeable batteries to execute several objective tasks during navigation. Previous research has focused on minimizing task downtime by coordinating task allocation and/or charge scheduling across multiple AMRs. However, they do not jointly ensure low task downtime and high-quality battery life.In this paper, we present TCM, a Task allocation and Charging Manager for AMR fleets. TCM allocates objective tasks to AMRs and schedules their charging times at the available charging stations for minimized task downtime and maximized AMR batteries’ quality of life. We formulate the TCM problem as an MINLP problem and propose a polynomial-time multi-period TCM greedy algorithm that periodically adapts its decisions for high robustness to energy modeling errors. We experimentally show that, compared to the MINLP implementation in Gurobi solver, the designed algorithm provides solutions with a performance ratio of 1.15 at a fraction of the execution time. Furthermore, compared to representative baselines that only focus on task downtime, TCM achieves similar task allocation results while providing much higher battery quality of life.
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SEMBLEU: A Robust Metric for AMR Parsing Evaluation
Evaluating AMR parsing accuracy involves comparing pairs of AMR graphs. The major evaluation metric, SMATCH (Cai and Knight,2013), searches for one-to-one mappings between the nodes of two AMRs with a greedy hill-climbing algorithm, which leads to search errors. We propose SEMBLEU, a robust metric that extends BLEU (Papineni et al., 2002) to AMRs. It does not suffer from search errors and considers non-local correspondences in addition to local ones. SEMBLEU is fully content-driven and punishes situations where a system’s output does not preserve most information from the input. Preliminary experiments on both sentence and corpus levels show that SEMBLEU has slightly higher consistency with human judgments than SMATCH. Our code is available athttp://github.com/freesunshine0316/sembleu.
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- Award ID(s):
- 1813823
- PAR ID:
- 10112009
- Date Published:
- Journal Name:
- Association for Computational Linguistics (ACL)
- Page Range / eLocation ID:
- 4547–4552
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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