System and method for determining arrival of swarming mobile robots

Abstract

A method for determining whether a plurality of mobile robots have arrived according to one embodiment comprises: a step of setting a destination point for the plurality of mobile robots; a step of receiving location information of the plurality of mobile robots in real time; a step of setting a destination cluster for the plurality of mobile robots based on the location information of the plurality of mobile robots relative to the destination point; and a step of determining whether the plurality of mobile robots have arrived based on whether the plurality of mobile robots are included in the destination cluster. In the step of determining whether the robots have arrived, if it is determined that not all of the plurality of mobile robots have arrived in the destination cluster, the step of setting the destination cluster may be repeated.

Description

Technology Field

[0001] The following description relates to a system and method for determining whether a swarm of mobile robots has arrived, and specifically, to a system and method for determining whether a plurality of mobile robots forming a swarm of multiple platforms have arrived at an arrival point. Background Technology

[0003] As the complexity and volume of tasks that robots must handle increase, there is a growing demand for using multiple robots rather than a single robot. The scope of tasks performed by robots is expanding beyond the ground to include the air and ocean, and they are being used specialized for each mission area, such as UGVs (Unmanned Ground Vehicles) and UAVs (Unmanned Aerial Vehicles).

[0004] Conventional methods for confirming robot arrival at a target point utilize the robot's location information (such as GPS) to define a circular area centered on the target point, determining arrival when the robot is near that area. However, in the case of multi-robot systems, if obstacles appear near the target area, a problem may arise where the robot fails to reach the arrival area.

[0005] Therefore, in order to efficiently operate a multi-platform robot system, there is a need for an efficient method to verify whether the swarm of mobile robots has arrived at the target point.

[0006] The aforementioned background technology is one that the inventor possessed or acquired during the process of deriving the present invention, and it cannot be considered as publicly known technology disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0008] The objective according to one embodiment is to provide a system and method for determining whether a plurality of mobile robots have arrived. means of solving the problem

[0010] A method for determining whether a plurality of mobile robots have arrived according to one embodiment comprises: a step of setting a destination point for the plurality of mobile robots; a step of receiving location information of the plurality of mobile robots in real time; a step of setting a destination cluster for the plurality of mobile robots based on the location information of the plurality of mobile robots relative to the destination point; and a step of determining whether the plurality of mobile robots have arrived based on whether the plurality of mobile robots are included in the destination cluster. In the step of determining whether the robots have arrived, if it is determined that not all of the plurality of mobile robots have arrived in the destination cluster, the step of setting the destination cluster may be repeated.

[0011] The step of setting the arrival cluster may include the step of creating an arrival cluster having the arrival point as a point of the cluster.

[0012] The step of setting the arrival cluster may further include the step of performing density-based clustering to expand the arrival cluster so that the plurality of mobile robots near the arrival cluster are included within the arrival cluster.

[0013] The above plurality of mobile robots may be multi-platform swarm robots including unmanned aerial vehicles and unmanned ground vehicles.

[0014] The step of creating an arrival cluster may create an arrival cluster having the location of the first mobile robot that arrives within a set distance of the said arrival point as a point if there is a mobile robot that arrives first within a set distance of the said arrival point.

[0015] The step of setting the arrival cluster may further include the step of including the variable area as a point of the arrival cluster based on the location of the variable area if a variable area, such as an obstacle, exists near the arrival cluster.

[0016] A method for determining whether a plurality of mobile robots have arrived according to one embodiment may further include: a step of setting a safe area within a set distance from a variable area if a variable area, such as an obstacle, exists near the arrival cluster; and a step of creating an additional arrival cluster having a mobile robot within the safe area as a point if there is a mobile robot that has not reached the arrival cluster but has reached the safe area.

[0017] In the step of setting the arrival clusters, the plurality of mobile robots may be assigned different arrival points, and the plurality of mobile robots may form different arrival clusters for each different arrival point.

[0018] A method for determining whether a plurality of mobile robots have arrived according to one embodiment may further include the step of resetting the movement path so that the mobile robots outside the mission pass outside the arrival cluster when there exists a mobile robot among the mobile robots performing a mission different from the mission of reaching the arrival point whose movement path passes through the arrival cluster.

[0019] The step of resetting the movement path above may reset the movement path so that the movement path of the non-mission mobile robot passes through a noise point that does not belong to the arrival cluster among the points recognized in the density-based clustering.

[0020] A system for determining whether a plurality of mobile robots have arrived according to one embodiment may include: a plurality of mobile robots forming a cluster; and a central control unit that determines whether the plurality of mobile robots have arrived by performing clustering of the plurality of mobile robots through any one of the methods described above. Effects of the invention

[0022] According to a system and method for determining the arrival status of multiple mobile robots according to one embodiment, the arrival status of a target point is determined using a density-based clustering (DBSCAN) clustering method, thereby enabling the expansion of the cluster and allowing the arrival conditions of the target point to be dynamically adjusted regardless of the size of the robot swarm.

[0023] According to a system and method for determining the arrival status of multiple mobile robots according to one embodiment, even if mobile robots on multiple platforms perform partially different tasks from each other, the arrival status of multiple mobile robots can be checked simultaneously by performing the arrival status verification process in parallel. Brief explanation of the drawing

[0025] FIG. 1 is a diagram showing a plurality of mobile robots according to one embodiment that have reached the vicinity of a destination point forming a destination cluster. FIG. 2 is a block diagram of a system for determining whether a plurality of mobile robots have arrived according to one embodiment. FIG. 3 is a flowchart of a method for determining whether a plurality of mobile robots have arrived according to one embodiment. FIG. 4 is a diagram showing the process of the step of setting a destination point according to one embodiment. FIG. 5 is a flowchart of the steps for setting an arrival cluster according to one embodiment. FIG. 6 is a diagram illustrating the process of the step of generating an arrival cluster according to one embodiment. FIG. 7 is a diagram illustrating the process of the step of generating an arrival cluster according to one embodiment. FIG. 8 is a diagram showing the process of the step of expanding the arrival cluster according to one embodiment. FIG. 9 is a flowchart of the steps for controlling a mobile robot outside of a mission according to one embodiment. FIG. 10 is a diagram showing the process of a step for controlling a mobile robot outside of a mission according to one embodiment. FIG. 11 is a flowchart of the steps for processing a variable area according to one embodiment. FIG. 12 is a diagram showing the process of the step of processing a safety area according to one embodiment. FIG. 13 is a diagram illustrating the process of the step of generating additional arrival clusters according to one embodiment. FIG. 14 is a flowchart of the steps for processing a variable area according to one embodiment. FIG. 15 is a diagram showing the process of a step for processing a variable area according to one embodiment. Specific details for implementing the invention

[0026] Hereinafter, embodiments will be described in detail with reference to the attached drawings. The following description is one of several aspects of the embodiments, and the following description constitutes part of the detailed description of the embodiments.

[0027] However, in describing one embodiment, specific descriptions regarding known functions or configurations are omitted to clarify the gist of the present invention.

[0028] In addition, terms or words used in this specification and claims should not be interpreted in their ordinary or dictionary senses, and based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention, they shall have a meaning and concept consistent with the technical idea of ​​the system and method for determining the arrival of a plurality of mobile robots according to one embodiment.

[0029] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiment of a system and method for determining whether a plurality of mobile robots have arrived according to one embodiment, and do not represent all technical concepts of a system and method for determining whether a plurality of mobile robots have arrived. It should be understood that various equivalents and modifications that can replace them may exist at the time of filing this application.

[0031] FIG. 1 is a diagram showing a plurality of mobile robots forming an arrival cluster according to one embodiment that have reached the vicinity of an arrival point, and FIG. 2 is a block diagram of a system for determining whether a plurality of mobile robots have arrived according to one embodiment.

[0032] Referring to FIGS. 1 and FIGS. 2, the configuration of a system (1) for determining whether a plurality of mobile robots have arrived according to one embodiment can be seen.

[0033] A system (1) for determining whether a plurality of mobile robots have arrived according to one embodiment can determine whether the plurality of mobile robots (11) have arrived at an assigned arrival point by determining whether all of the plurality of mobile robots (11) are within an arrival cluster (14) through a central control unit (12) that assigns tasks to the plurality of mobile robots (11) forming a cluster and receives location information.

[0034] A plurality of mobile robots (11) are unmanned robots that form a swarm to perform a set mission. The plurality of mobile robots (11) may include unmanned aerial vehicles (UAVs) or unmanned ground vehicles (UGVs).

[0035] For example, a plurality of mobile robots (11) may include a cluster of multiple platforms that include both unmanned aerial vehicles and unmanned ground vehicles.

[0036] For example, a plurality of mobile robots (11) may be assigned a mission or target destination from a central control unit (12) and move to reach the corresponding mission or target destination. For example, the mobile robots (11) may be equipped with a satellite navigation sensor such as GPS to detect the location information of the mobile robots (11).

[0037] The central control unit (12) monitors the location information and mission information of a plurality of mobile robots (11) in real time and can set a mission or target destination point (13) for the plurality of mobile robots (11).

[0038] For example, the central control unit (12) can assign different tasks to multiple mobile robots (11). For example, the central control unit (12) can assign different destination points to multiple mobile robots (11).

[0039] The central control unit (12) can generate a arrival cluster (14) of mobile robots based on the arrival point (13) using a density-based spatial clustering (DBSCAN, Density Based Spatial Clustering in Accordance with Noise) algorithm, and can determine whether multiple mobile robots (11) have arrived by determining whether multiple mobile robots (11) are included in the arrival cluster (14).

[0040] For example, the central control unit (12) can issue a command to two groups of swarm mobile robots (11) located in different mission zones, as shown in FIG. 2, to move to a destination point (13), and can form a destination cluster (14) by performing density-based clustering (DBSCAN) clustering based on the destination point (13).

[0041] A specific method for the central control unit (12) to perform density-based clustering (DBSCAN) to set arrival clusters (14) and to determine whether a plurality of mobile robots (11) have arrived will be described later through the description of the embodiments of FIGS. 3 to 15 below.

[0043] Referring to FIGS. 3 to 15, the configuration of a method for determining whether a plurality of mobile robots have arrived according to one embodiment can be seen.

[0044] First, FIG. 3 illustrates a flowchart of a method for determining whether a plurality of mobile robots have arrived according to one embodiment.

[0045] A method for determining whether a plurality of mobile robots have arrived according to one embodiment can be understood as being performed through a central control unit (12) of a system (1) for determining whether a plurality of mobile robots have arrived according to the embodiment illustrated in FIG. 1 and FIG. 2.

[0046] A method for determining whether a plurality of mobile robots have arrived according to one embodiment may include the steps of: setting a destination point (21); receiving location information in real time (22); setting a destination cluster (23); controlling mobile robots outside of the mission (24); processing a variable area (25); and checking whether they have arrived (26).

[0047] Referring to FIG. 4, the process of the step (21) of setting a destination point according to one embodiment can be seen.

[0048] The step of setting the destination point (21) is a step in which the central control unit (12) sets a destination point (13) corresponding to the target point that the plurality of mobile robots (11) must reach.

[0049] In other words, in the step (21) of setting the destination point, the central control unit (12) may be in the step of issuing a command to a plurality of mobile robots (11) to reach the set destination point (13).

[0050] The step (22) of receiving location information in real time is a step in which the central control unit (12) receives location information of a plurality of mobile robots (11), and the central control unit (12) can monitor the location of the plurality of mobile robots (11) in real time.

[0051] For example, the central control unit (12) can monitor position information of multiple mobile robots (11) as well as mission information assigned to multiple mobile robots (11).

[0052] FIG. 5 is a flowchart of the step of setting a arrival cluster according to one embodiment, FIG. 6 and FIG. 7 illustrate the process of the step of creating an arrival cluster according to one embodiment, and FIG. 8 illustrates the process of the step of expanding an arrival cluster according to one embodiment.

[0053] Referring to FIGS. 5 to 8, the configuration of the step of setting a arrival cluster according to one embodiment can be seen.

[0054] In the step (23) of setting the arrival cluster according to one embodiment, the central control unit (12) can perform density-based clustering (DBSCAN) to create or update the arrival cluster of multiple mobile robots (11) based on the arrival point.

[0055] The density-based clustering (DBSCAN) algorithm uses two variables, epsilon and minimum points, where epsilon is the radius length used to determine how many data points are within the set radius length, and minimum points represents the number of points that can be identified as a cluster.

[0056] In the step (23) of setting the arrival cluster, the central control unit (12) can perform density-based clustering (DBSCAN) based on the coordinates of the arrival point (13) based on preset epsilon and minimum points variables.

[0057] For example, density-based clustering (DBSCAN) clustering can be performed in a two-dimensional horizontal coordinate system or in a three-dimensional coordinate system that additionally considers height (altitude).

[0058] The step (23) of setting a arrival cluster according to one embodiment may include the step (231) of creating an arrival cluster and the step (232) of expanding the arrival cluster.

[0059] The step (231) of creating a arrival cluster can be performed when the central control unit (12) first assigns a arrival point (13) to a plurality of mobile robots (11).

[0060] For example, in the step (231) of generating a arrival cluster, the central control unit (12) can recognize the arrival point (13) as a single data point and perform density-based clustering (DBSCAN) clustering based on the arrival point (13).

[0061] For example, as illustrated in FIG. 6, if at least one mobile robot (11) is located near the destination point (13), a destination cluster (14) can be created consisting of the destination point (13) and each of the mobile robots (11).

[0062] As another example, as illustrated in FIG. 7, the central control unit (12) can generate a arrival cluster (14) having a single point at the arrival point (13).

[0063] As another example, the central control unit (12) can create a arrival cluster (14) having a single point of the mobile robot (11) that first enters the arrival point (13) within a set distance.

[0064] In the step (232) of expanding the arrival cluster, the central control unit (12) can dynamically update the arrival cluster (14) so ​​that mobile robots (11) located adjacent to the arrival cluster (14) are included in the arrival cluster (14) through density-based clustering (DBSCAN) clustering based on location information of multiple mobile robots (11) received / updated in real time.

[0065] For example, as illustrated in FIG. 8, when additional mobile robots (11) arrive near the arrival cluster (14), the central control unit (12) can expand the arrival cluster (14) based on preset epsilon, minimum points so that mobile robots (11) adjacent to the arrival cluster (14) are also included as elements (points) of the arrival cluster (14).

[0066] For example, the step of expanding the arrival cluster (232) may include the step of including the variable area (15) as a point of the arrival cluster (14) based on the location of the variable area (15).

[0067] For example, the central control unit (12) can consider a situation in which a mobile robot (11) cannot reach the vicinity of the arrival cluster (14) due to a variable area (15) such as an obstacle, and if the variable area (15) exists inside or near the arrival cluster (14), the location of the variable area (15) can be considered as an element (point) of the arrival cluster (14).

[0068] FIG. 9 is a flowchart of the steps for controlling a non-mission mobile robot according to one embodiment, and FIG. 10 is a diagram showing the process of the steps for controlling a non-mission mobile robot according to one embodiment.

[0069] Referring to FIGS. 9 and FIGS. 10, the configuration of the step of controlling a mobile robot outside of a mission according to one embodiment can be seen.

[0070] In the step (24) of controlling a non-mission mobile robot according to one embodiment, when the central control unit (12) detects a "non-mission mobile robot (11')" performing another mission passing through the arrival cluster (14), that is, when it determines that a non-mission mobile robot (11') moving toward a target point different from the arrival point (13) according to one embodiment is passing through or is scheduled to pass through the arrival cluster (14), the movement path of the non-mission mobile robot (11') can be reset.

[0071] A step (24) for controlling a non-mission mobile robot according to one embodiment may include a step (241) for detecting a non-mission mobile robot and a step (242) for resetting a movement path.

[0072] In the step (241) of detecting non-mission mobile robots, the central control unit (12) can detect whether there is a mobile robot among the "non-mission mobile robots (11')" that perform a different mission from the mission of reaching the destination point (13) whose movement path passes through the destination cluster (14).

[0073] For example, the central control unit (12) can monitor the assigned mission information, including the location information of each of the multiple mobile robots (11), and can determine in advance the location information and expected movement path of the mobile robots (11') that are not assigned a mission, excluding the mobile robot (11) that is assigned a mission to reach the destination point (13) among the multiple mobile robots (11).

[0074] The step of resetting the movement path (242) may be a step of resetting the movement path for a non-mission movement robot (11') when the central control unit (12) detects a non-mission movement robot (11') whose movement path passes through the arrival cluster (14).

[0075] For example, the central control unit (12) can reset the movement path of the non-mission mobile robot (11') to pass through a noise point that does not belong to the arrival cluster (14) among the data points recognized during the density-based clustering (DBSCAN) process.

[0076] According to the above structure, since the noise point is not recognized as the arrival cluster (14), the non-mission mobile robot (11') does not affect the arrival cluster (14), thereby allowing for the exploration of a new path or the omission of additional calculation processes.

[0077] In addition, by ensuring that mobile robots (11) performing different tasks do not interfere with each arrival cluster, the efficiency of each mobile robot (11) in performing its task can be increased.

[0078] FIG. 11 is a flowchart of the steps for processing a variable area according to one embodiment, FIG. 12 is a diagram showing the process of the steps for processing a safety area according to one embodiment, and FIG. 13 is a diagram showing the process of the steps for generating additional arrival clusters according to one embodiment.

[0079] Referring to FIGS. 11 to 13, the configuration of the step (25) for processing a variable area according to one embodiment can be seen.

[0080] The step (25) of processing a variable region according to one embodiment may be a process of separately processing the variable region (15) during the clustering process to prevent a situation in which the central control unit (12) cannot reach the vicinity of the arrival cluster due to a variable region (15) such as an obstacle.

[0081] For example, the step (25) of processing a variable region may include the step (251) of detecting a variable region, the step (252) of creating a safe region, and the step (253) of creating an additional arrival cluster.

[0082] The step of detecting a variable area (251) may be a step in which the central control unit (12) detects a variable area (15) inside or near the arrival cluster (14).

[0083] For example, the central control unit (12) can recognize variable situations that interfere or obstruct the mobile robot (11) from reaching the destination point (13) or destination cluster (14), such as obstacles, and can detect variable areas (15) based on the location information.

[0084] In the step (252) of creating a safe area, if the central control unit (12) detects a variable area (15), a safe area (16) within a set distance around the variable area (15) can be set.

[0085] In the step (253) of creating an additional arrival cluster, the central control unit (12) can create an additional arrival cluster (14') with the mobile robot (11) as a point when the mobile robot (11) enters the set safety area (16).

[0086] As another example, the central control unit (12) can generate additional arrival clusters (14') having a single point with specific coordinates, such as the center point of the safety area (16), based on location information of the set safety area (16).

[0087] According to the above structure, even if a mobile robot (11) cannot reach an existing arrival cluster (14) due to a variable area (15) such as an obstacle, clustering is possible through an additional arrival cluster (14'), thereby allowing for flexible determination of whether multiple mobile robots (11) have arrived even when a variable situation occurs.

[0088] As another example, referring to FIG. 14 and FIG. 15, a method for determining whether a plurality of mobile robots have arrived according to one embodiment may include the configuration of a step (25) of processing a variable area of ​​an embodiment different from the above.

[0089] Specifically, FIG. 14 is a flowchart of the steps for processing a variable area according to one embodiment, and FIG. 15 illustrates the process of the steps for processing a variable area according to one embodiment.

[0090] The step (35) of processing a variable region according to one embodiment may include the step (351) of detecting a variable region and the step (352) of including the variable region as a destination cluster point.

[0091] The step of detecting a variable area (351) may be a step in which the central control unit (12) detects a variable area (15) inside or near the arrival cluster (14).

[0092] For example, the central control unit (12) can recognize variable situations that interfere or obstruct the mobile robot (11) from reaching the destination point (13) or destination cluster (14), such as obstacles, and can detect variable areas (15) based on the location information.

[0093] In the step (352) of including a variable area as a destination cluster point, if the central control unit (12) determines that a variable area (15) exists inside or near the destination cluster (14), it may include the variable area (15) as one point of the destination cluster (14).

[0094] For example, as illustrated in FIG. 15, the central control unit (12) can consider the center point (151) of the variable area (15) as a data point and cluster it within the arrival cluster (14).

[0095] According to the above structure, the central control unit (12) can prevent a situation in which a mobile robot (11) cannot reach the vicinity of the arrival cluster (14) due to a variable area (15) such as an obstacle by considering the variable area (15) as a point constituting the arrival cluster (14) so ​​that mobile robots (11) around the variable area (15) can be clustered together in the arrival cluster (14).

[0096] The step (26) of checking for arrival may be a step of determining the final arrival of multiple mobile robots (11) based on whether the multiple mobile robots (11) assigned to reach the arrival point (13) are all included in the arrival cluster (14) by the central control unit (12).

[0097] For example, the central control unit (12) can determine the final arrival based on whether multiple mobile robots (11) assigned the task of reaching the arrival point (13) are all included as points constituting the arrival cluster (14) or additional arrival cluster (14').

[0098] In the step (26) of checking for arrival, if the central control unit (12) determines that multiple mobile robots (11) have not arrived at the arrival cluster (14), the step (22) of receiving location information in real time and the step (23) of setting the arrival cluster can be repeatedly performed until all multiple mobile robots (11) arrive at the arrival point (13).

[0099] In other words, the central control unit (12) can monitor the location information of the multiple mobile robots (11) in real time until all of the multiple mobile robots (11) are clustered into an arrival cluster (14), and at the same time, repeat the density-based clustering (DBSCAN) clustering process based on the location information.

[0100] According to a system and method for determining the arrival status of multiple mobile robots according to one embodiment, the arrival status of a target point is determined using a density-based clustering (DBSCAN) clustering method, thereby enabling the expansion of the cluster and allowing the arrival conditions of the target point to be dynamically adjusted regardless of the size of the robot swarm.

[0101] According to a system and method for determining the arrival status of multiple mobile robots according to one embodiment, even if mobile robots on multiple platforms perform partially different tasks from each other, the arrival status of multiple mobile robots can be checked simultaneously by performing the arrival status verification process in parallel.

[0103] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0104] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0105] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0106] As described above, the embodiments have been explained with specific details such as specific components, limited embodiments, and drawings, but this is provided to aid in the overall understanding. Furthermore, the present invention is not limited to the embodiments described above, and various modifications and variations are possible from this description by those skilled in the art. Therefore, the scope of the present invention should not be limited to the embodiments described above, and all things equivalent to or having equivalent variations to the claims set forth below, as well as the claims themselves, shall be considered to fall within the scope of the concept of the present invention.

Claims

Claim 1 A method for determining whether a plurality of mobile robots have arrived, comprising: a step of setting an arrival point of the plurality of mobile robots; a step of receiving location information of the plurality of mobile robots in real time; a step of setting an arrival cluster of the plurality of mobile robots based on the location information of the plurality of mobile robots relative to the arrival point; and a step of determining whether the plurality of mobile robots have arrived based on whether they are included in the arrival cluster; wherein, in the step of determining whether the plurality of mobile robots have arrived, if it is determined that not all of the plurality of mobile robots have arrived in the arrival cluster, the step of setting the arrival cluster is repeated, and the step of setting the arrival cluster includes: a step of creating an arrival cluster having the arrival point as a point of the cluster; and a step of performing density-based clustering to expand the arrival cluster so that the plurality of mobile robots near the arrival cluster are included in the arrival cluster. Claim 2 delete Claim 3 delete Claim 4 A method for determining whether a plurality of mobile robots have arrived, wherein, in claim 1, the plurality of mobile robots are multi-platform swarm robots including unmanned aerial vehicles and unmanned ground vehicles. Claim 5 A method for determining whether a plurality of mobile robots have arrived, wherein the step of generating the arrival cluster is characterized by generating an arrival cluster having the location of the first mobile robot that arrives within a set distance of the arrival point when there is a mobile robot that arrives first within a set distance. Claim 6 A method for determining whether a plurality of mobile robots have arrived, wherein the step of setting the arrival cluster further comprises the step of including the variable area as a point of the arrival cluster based on the location of the variable area when a variable area, such as an obstacle, exists near the arrival cluster. Claim 7 A method for determining whether a plurality of mobile robots have arrived, further comprising: a step of setting a safe area within a set distance from the variable area if a variable area, such as an obstacle, exists near the arrival cluster in the first claim; and a step of creating an additional arrival cluster having the mobile robot within the safe area as a point if there is a mobile robot that has not reached the arrival cluster but has reached the safe area in the first claim. Claim 8 A method for determining whether a plurality of mobile robots have arrived, characterized in that, in the step of setting the arrival clusters, the plurality of mobile robots may be assigned different arrival points, and the plurality of mobile robots form different arrival clusters for each different arrival point. Claim 9 A method for determining whether a plurality of mobile robots have arrived, further comprising: a step of resetting the movement path so that the mobile robot outside the mission passes outside the arrival cluster when there is a mobile robot among the mobile robots performing a mission different from the mission of reaching the arrival point that has a movement path passing through the arrival cluster. Claim 10 A method for determining whether a plurality of mobile robots have arrived, wherein the step of resetting the movement path is characterized by resetting the movement path so that the movement path of the mobile robot outside the mission passes through a noise point that does not belong to the arrival cluster among the points recognized in the density-based clustering. Claim 11 A system for determining whether a plurality of mobile robots have arrived, comprising: a plurality of mobile robots forming a cluster; and a central control unit that determines whether the plurality of mobile robots have arrived by performing clustering of the plurality of mobile robots through the method described in claim 1.

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