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A security robot simulator can be a useful tool for planning security strategies. However, few simulators or systems for security robot planning have been designed to date. This involves the implementation of low-level procedures to control robot behavior, action and motion and high-level procedures such as patrol path planning. In this paper, we propose a new security robot simulation system, Security Robot Simulator (SRS), based on the Microsoft Robotics Developer Studio (MSRDS), which is composed of the library ldquoConcurrency and Coordination Runtimerdquo (CCR), and the structure ldquoDecentralized Software Servicesrdquo (DSS). MSRS includes a rendering engine and a stable physics engine to simulate robots in a virtual world environment. By using this flexible and extensible simulator, we can plan security robot behavior and motion in a credible physics-based environment.