Simulation of Heterogeneous Robot Swarm in Resource Transportation System.

In this paper, we report simulation results of a heterogeneous swarm of robots using a potential field. The swarm models a resource transportation unit with supply units, defending units, and attacking units (enemy). Each class of vehicle unit possesses different maneuvering capabilities with different objectives. The supply units carry resources, the attacking units obstruct the supply units, and the defending units obstruct the attacking units. In this study, we verified whether our simulation works for the purpose (resource transportation system), and we also observed changes in the simulation results when the goal of each unit changed.