Posted by @Odin-byte:
Is the current battery state part of the estimation process for the task dispatching, or is it only important if its enough to finish the job?
Also does the type of estimator chosen change anything when there is only one fleet of robots? Or as the name of the different estimators suggest, do they only estimate the cost differently between multiple fleets?
Chosen answer
Answer chosen by @Odin-byte at 2024-10-11T11:36:21Z.
Answered by @mxgrey:
The cost of a task is purely determined by F - I where F is the time that the task is expected to finish and I is the earliest time that the task is allowed to start. For ad hoc tasks that should run immediately, I is effectively just the time that the task is issued. For scheduled tasks, I is the time that the task is scheduled to begin.
Battery level is taken as a constraint where the robot’s battery cannot drop below a certain threshold before the task is finished. To some extent power consumption is implicitly factored into the cost estimate of the task because minimizing the time spent on a task will also minimize the battery consumption.
does the type of estimator chosen change anything when there is only one fleet of robots
Can you be more specific about which “estimator” you’re referring to? If you’re asking about the Evaluator then that only has an effect when there are multiple fleets.