# Human-Centered Dynamic Service Scheduling Approach in Multi-Agent Environments
## 3 Human-Centered Dynamic Service Scheduling Approach
### Multi-Agent Scheduler
#### 3.2.3 Operation Allocator
Suppose the user wants to get coffee (Job 2) after removing the empty cup from the table (Job 3) because the table is full. In the baseline scheduler, Job 3 is only assigned after all previous requests have been executed; therefore, it does not meet the user requirement. However, the operation manager in our scheduler handles sequential relationships between jobs so that it can accommodate and follow user requirements. As shown in Figure 6b, the operation manager stacks the operations of Job 2 on top of Job 3. Operations O\({}_{21}\) and O\({}_{22}\) are allocated only after O\({}_{31}\) is completed and the service is successfully provided as requested by the user. As a result, while the baseline scheduler fails to satisfy user requests by bringing coffee before an empty cup is removed from the table, the proposed method succeeds. #### 4.4.4 Scenario 4: Preferred Time and Simultaneous Request

Scenario 4 includes a user requesting two jobs to be performed simultaneously or having a preferred execution time for the service. For example, a user may ask for two empty cups to be simultaneously brought from a table and a reading light to turn on when the user performs a specific action. To visually demonstrate the execution of the service in the VR smart office, the specific action is lifting a cup. Figure 6: User requests to change the order of service: (**a**) the baseline scheduler and (**b**) the proposed scheduler. The baseline scheduler does not accept these requests; therefore the two cups are fetched separately, and the reading light is on regardless of the user's status, as shown in Figure 7a. The proposed scheduler combines \(\text{O}_{31}\) and \(\text{O}_{51}\) using the combining function of the operation manager to change the new operation \(\text{O}_{31\text{-}51}\) to be performed by a single agent so that the mobile robot simultaneously takes back empty cups 1 and 2, as shown in Figure 7b. Additionally, as shown in Figure 8, \(\text{O}_{41}\) \"Turn on light\" is performed when the user raises the cup. ## 5 Conclusions

We propose a novel scheduling framework for heterogeneous multiple agents that can actively accept dynamic user requests and provide services in daily life. In this study, we focused on the sequential and temporal aspects of services that occur owing to user requests. Therefore, the aim was to dynamically accept new requests and reschedule services so that multiple robots could satisfy these sequential interdependencies or complex prerequisites

Figure 8: Execution result of the proposed scheduler: (**a**) before the user lifts the cup and (**b**) after the user raises the cup (light turns on). Figure 7: Preferred time and simultaneous request: (**a**) the baseline scheduler and (**b**) the proposed scheduler. of a requested job. To validate the technical reliability of the proposed scheduler, we developed a VR simulation and tested it in four smart office scenarios with interactive and dynamic requests. The results indicated that our scheduler was effective in all the scenarios by providing appropriate services according to dynamic user requests. In future research, we plan to refine our optimization solution for improved computational efficiency. We plan to increase the complexity of the user request of service, such as different robots performing a single service by operating simultaneously. For real-world applications, the service setting could be broadened from a home to a wider and more complex multi-purpose facility with multiple users. We also plan to further expand the human monitoring function with various other IoT technologies and use the proposed system in real-world applications. Conceptualization, J.-M.P. ; methodology, Y.J. and H.K. ; software, H.K. and K.-D.S. ; validation, Y.J., H.K. and K.-D.S. ; writing--original draft preparation, Y.J. ; writing--review and editing, J.-M.P. ; supervision, J.-M.P. ; project administration, J.-M.P. ; funding acquisition, J.-M.P. All authors have read and agreed to the published version of the manuscript.