  We present a formal tasK AllocatioN and scheduling apprOAch for multi-robot
missions (KANOA). KANOA supports two important types of task constraints: task
ordering, which requires the execution of several tasks in a specified order;
and joint tasks, which indicates tasks that must be performed by more than one
robot. To mitigate the complexity of robotic mission planning, KANOA handles
the allocation of the mission tasks to robots, and the scheduling of the
allocated tasks separately. To that end, the task allocation problem is
formalised in first-order logic and resolved using the Alloy model analyzer,
and the task scheduling problem is encoded as a Markov decision process and
resolved using the PRISM probabilistic model checker. We illustrate the
application of KANOA through a case study in which a heterogeneous robotic team
is assigned a hospital maintenance mission.
