Optimizing Parameters for Uncertain Execution and Rescheduling Robustness
We describe use of Monte Carlo simulation to optimize schedule parameters for execution and rescheduling robustness in the face of execution uncertainties. We search in the activity input parameter space where a) the onboard scheduler is a one shot non-backtracking scheduler and b) the activity input priority determines the order in which activities are considered for placement in the schedule. We show that simulation driven search for activity parameters outperforms static priority assignment. Our approach can be viewed as using simulation feedback to determine problem specific heuristics e.g. Squeaky Wheel Optimization. These techniques are currently baselined for use in the ground operations of NASA’s next planetary rover, the Mars 2020 rover.