IJMO 2024 Vol.14(1): 24-31
DOI: 10.7763/IJMO.2024.V14.845
Designing a Simulator Structure for Validating Swarm Robot’s Dynamic Mission Planning
Mingyu Shin1, Sejin Kim2, Hyojun Ahn1,
Sunoh Byun1, Eenseo Baek1, Sungjun Shim2,
Jooyoung Kim2,
Yongjin Kwon1,*
1. Department of Industrial Engineering, College of Engineering, Ajou University, Suwon, South Korea
2. Intelligent/Autonomous Control SW Team, LIG Nex1, Sungnam, South Korea
Email: saycode99@ajou.ac.kr (M.G. S.); jkn6873@ajou.ac.kr (S.J. K.); hyojunahn000713@ajou.ac.kr (H.J. A.);
eunseo5343@ajou.ac.kr (E.S. B.); sungjun.shim@lignex1.com (S.J. S.); jooyoung.kim@lignex1.com (J.Y. K.);
yk73@ajou.ac.kr (Y.J. K.
*Corresponding author
Manuscript received Month date, 2023; revised Month date, 2023; accepted Month date, 2023; published February 6, 2024
Abstract—As swarm-based robotic missions become increasingly important, efficient mission planning for multiple robots in a swarm has become one of the key issues. When deploying swarm robots for indoor search tasks, it is necessary to have a dynamic mission plan that can respond to the changing environment in real time, rather than being limited to the static mission plan initially set. However, there is no standardized method for swarm robots to effectively respond to the changing environment after entering a building with an initially assigned mission plan. Therefore, this paper proposes a new type of simulator structure that can respond and validate dynamic mission planning algorithms by considering swarm robots with multiple unit missions. Two decision tree-based mission planning algorithms were designed and reflected in the simulator based on the proposed simulator structure. In there, two algorithms were compared and tested. In addition, an inheritance hierarchy for swarm unit missions was provided, so that newly required missions among the multiple unit missions of the robot could be easily implemented and reflected in the simulator. As a result, the proposed simulator structure is expected to have a wide applicability in that it can be used for research and verification of dynamic mission planning algorithms that can respond to the environment not only in indoor navigation tasks but also in other environments where robots with multi-unit missions.
Keywords—mission planning, unmanned systems, SW architecture, swarm robots, dynamic mission planning
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Cite: Mingyu Shin, Sejin Kim, Hyojun Ahn, Sunoh Byun, Eenseo Baek, Sungjun Shim, Jooyoung Kim, and Yongjin Kwon, "Designing a Simulator Structure for Validating Swarm Robot’s Dynamic Mission Planning," International Journal of Modeling and Optimization, vol. 14, no. 1, pp. 24-31, 2024.
Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
