A Framework for Tasks Allocation and Scheduling in Precision Agriculture Settings

This paper proposes an allocation and scheduling framework to assign to robotics platforms and human operators the farming operations required by the decision-support system being developed within the H2020 European Project PANTHEON. Specifically, the proposed framework is composed of two modules: the first one is in charge of allocating the tasks when no precedence constraints between pairs of farming operations are involved, whereas the second one builds upon the first one to provide a solution when certain operations are required to be completed before other operations can start, i.e., when there exist precedence constraints between pairs of operations. An agronomical example is reported to validate the proposed framework.