TaBSA – A framework for training and benchmarking algorithms for scheduling tasks for mobile robots working in dynamic environments

This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardised interfaces, configurable scenarios with movable objects, human agents, tools for automated test generation, and performance evaluation. It supports both classical and AI-based methods, enabling repeatable, comparable assessments across diverse tasks and configurations. The framework facilitates diagnosis of algorithm behaviour, identification of implementation flaws, and selection or tuning of strategies for specific applications. It includes a SysML-based domain-specific language for structured scenario modelling and integrates with the ROS-based system for runtime execution. Validated on patrol, fall assistance, and pick-and-place tasks, the open-source framework is suited for researchers and integrators developing and testing scheduling algorithms under real-world-inspired conditions.