Enabling Limited Resource-Bounded Disjunction in Scheduling

We describe three approaches to enabling a severely computationallylimited embedded scheduler to consider a smallnumber of alternative activities based on resource availability.We consider the case where the scheduler is so computationallylimited that it cannot backtrack search. The first twoapproaches precompile resource checks (called guards) thatonly enable selection of a preferred alternative activity if sufficientresources are estimated to be available to schedule theremaining activities. The third approach mimics backtrackingby invoking the scheduler multiple times with the alternativeactivities. We present an evaluation of these techniques onMars mission scenarios (called sol types) from NASA’s nextplanetary rover where these techniques are being evaluatedfor inclusion in an onboard scheduler.