WiRoM: a High-level Mission Planning System for Heterogeneous Multi-Robot Simulations

Abstract

Robots are complicated machines. Today we have a lot of different types of robots, each with different types of sensors and actuators which have their own practical (and impractical) applications. Utilizing the benefits of having multiple heterogeneous robots is useful for creating a more diverse repository of executable tasks, some that might be impossible to execute for a single robot or homogeneous multi-robots. Having a more diverse repository of tasks would allow robots to execute complex missions and increase the efficiency of mission execution. Planning new missions for heterogeneous multi-robots is a complicated and convoluted assignment for most users because of the robotics and programming knowledge that is required to plan such complex missions. This thesis will present \textbf{WiRoM}, a web-based mission planning system for heterogeneous multi-robot setups that have been designed and developed by combining the core concepts of Model-Driven Software Engineering with robot programming. By abstracting the mission planning to a higher level and implementing the user interface as a low-code platform, we can make mission planning, task development, and task allocation more trivial and efficient for users.