Military Communications and Information Technology: A Trusted ...
Military Communications and Information Technology: A Trusted ... Military Communications and Information Technology: A Trusted ...
314 Military Communications and Information Technology... Execution of the guard command is done very similar; the UGV is ordered again to move to the center of the area and each UAV receives an order to patrol in one half of the area. The observe command is performed by moving the UGV to the target position and let the UAVs orbit around that position. We also added two emergency buttons. The first is “Emergency Stop” which cancels all previously given commands and lets all robots stop. The second is “Return to Base” which gives each robot a “move to base” task. The base must have been defined previously in the C2LG GUI. We tested and demonstrated all that functionality on our test side in Wachtberg, next to the Fraunhofer FKIE. It showed that our approach works. Due to the standardization of BML and ROS the interaction between the components of the three different institutes was no problem. Figure 5. Map returned by the UGV during the reconnaisance mission. White represents free area, black represents obstacles and gray is undiscovered area. The blue lines are predefined roads VI. Conclusion and outlook We presented a system that allows commanding an MRS with BML. Giving the orders in restricted normal English is an intuitive way but requires complex intelligent nodes. The BML exchange format makes it possible to develop the intelligent nodes independent of each other because of the standardization. But BML does not always allow giving orders at a level of the detail which might be desirable. Adjusting BML to the special needs of a multi-robot system is one of the work items for the future. The intelligent nodes often have similar structures and we are planning to generate them from scripts or rules. This would allow faster integration of new commands or adjusting behavior to new robots. Reporting position and
Chapter 3: Information Technology for Interoperability and Decision... 315 task status was no problem using BML. Pictures and videos cannot be encoded in BML, for this reason we used the SDRC. In future work it must be proven if this approach scales for lager MRS. Another interesting point is how the system must be adjusted to be able to add and remove new robots to the MRS at any time. REFERENCES [1] M.L. Cummings, and P.J. Mitchell, “Operator scheduling strategies in supervisory control of multiple UAVs,” Aerosp. Sci. Technol., vol. 11, no. 4, 2007, pp. 339-348. [2] C. Nehme, B. Mekdeci, J.W. Crandall, and M.L. Cummings, “The impact of heterogeneity on operator performance in futuristic unmanned vehicle systems,” Int. Command Control J., vol. 2, no. 2, 2008. [3] S.R. Dixon, C.D. Wickens, and D. Chang, “Mission control of multiple unmanned aerial vehicles: A workload analysis,“ Human Factors, vol. 47, no. 3, 2005, pp. 479-487. [4] G. Coppin, and F. Legras, “Autonomy Spectrum and Performance Perception Issues in Swarm Supervisory Control,” Proceedings of the IEEE vol. 100, no. 3, 2012. [5] M.S. Wilson, and M.J. Neal, “Diminishing return of engineering effort in telerobotic systems,” IEEE Trans. Syst. Man Cybern. A, Syst. Humans, vol. 31, Special Issue on Socially Intelligent Agents–The Human in the Loop, no. 5, 2001, pp. 459-465. [6] K.L. Myers, “Advisable planning systems in Advanced Planning Technology,” A. Tate, Ed. Menlo Park, CA: AAAI, 1996. [7] K. Heffner, A. Brook, N. de Reus, L. Khimeche, O.M. Mevassvik, M. Pullen, U. Schade, J. Simonsen, and R. Gomez-Veiga, “NATO MSG-048 C-BML Final Report Summary,” 2010 Fall Simulation Interoperability Workshop (Paper 10F-SIW-039), Orlando, FL., 2010. [8] T. Remmersmann, B. Brüggemann, U. Schade, and D. Schulz, „Roboterinteraktion mittels Battle Management Language,“ Technical Report FKIE-ITF/2010/01. Wachtberg: Fraunhofer FKIE, 2010. [9] T. Remmersmann, B. Brüggemann, and M. Frey, “Robots to the Ground.” in Concepts and Implementations for Innovative Military Communications and Information Technologies, Military University of Technology, ISBN 978-83-61486-70-1, 2010, pp. 61-68. [10] A. Tiderko, T. Bachran, F. Hoeller, and D. Schulz, “RoSe – A framework for multicast communication via unreliable networks in multi-robot systems,” Robotics and Autonomous Systems, vol. 56, 2008, pp. 1017-1026. [11] U. Schade, M.R. Hieb, M. Frey, and K. Rein, “Command and Control Lexical Grammar (C2LG) Specification”, Technical Report FKIE-ITF/2010/02. Wachtberg: Fraunhofer FKIE, 2010. [12] M. Gerz, and U. Schade, “Das Joint Consultation Command and Control Information Exchange Data Model”, in J. Grosche, and M. Wunder, (Eds.), Verteilte Führungsinformationssysteme. Heidelberg, Germany: Springer, 2009, pp. 219-234.
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Chapter 3: <strong>Information</strong> <strong>Technology</strong> for Interoperability <strong>and</strong> Decision...<br />
315<br />
task status was no problem using BML. Pictures <strong>and</strong> videos cannot be encoded<br />
in BML, for this reason we used the SDRC.<br />
In future work it must be proven if this approach scales for lager MRS. Another<br />
interesting point is how the system must be adjusted to be able to add <strong>and</strong> remove<br />
new robots to the MRS at any time.<br />
REFERENCES<br />
[1] M.L. Cummings, <strong>and</strong> P.J. Mitchell, “Operator scheduling strategies in supervisory<br />
control of multiple UAVs,” Aerosp. Sci. Technol., vol. 11, no. 4, 2007, pp. 339-348.<br />
[2] C. Nehme, B. Mekdeci, J.W. Cr<strong>and</strong>all, <strong>and</strong> M.L. Cummings, “The impact<br />
of heterogeneity on operator performance in futuristic unmanned vehicle systems,”<br />
Int. Comm<strong>and</strong> Control J., vol. 2, no. 2, 2008.<br />
[3] S.R. Dixon, C.D. Wickens, <strong>and</strong> D. Chang, “Mission control of multiple unmanned<br />
aerial vehicles: A workload analysis,“ Human Factors, vol. 47, no. 3, 2005, pp. 479-487.<br />
[4] G. Coppin, <strong>and</strong> F. Legras, “Autonomy Spectrum <strong>and</strong> Performance Perception Issues<br />
in Swarm Supervisory Control,” Proceedings of the IEEE vol. 100, no. 3, 2012.<br />
[5] M.S. Wilson, <strong>and</strong> M.J. Neal, “Diminishing return of engineering effort in telerobotic<br />
systems,” IEEE Trans. Syst. Man Cybern. A, Syst. Humans, vol. 31, Special Issue on<br />
Socially Intelligent Agents–The Human in the Loop, no. 5, 2001, pp. 459-465.<br />
[6] K.L. Myers, “Advisable planning systems in Advanced Planning <strong>Technology</strong>,” A. Tate,<br />
Ed. Menlo Park, CA: AAAI, 1996.<br />
[7] K. Heffner, A. Brook, N. de Reus, L. Khimeche, O.M. Mevassvik, M. Pullen,<br />
U. Schade, J. Simonsen, <strong>and</strong> R. Gomez-Veiga, “NATO MSG-048 C-BML Final Report<br />
Summary,” 2010 Fall Simulation Interoperability Workshop (Paper 10F-SIW-039),<br />
Orl<strong>and</strong>o, FL., 2010.<br />
[8] T. Remmersmann, B. Brüggemann, U. Schade, <strong>and</strong> D. Schulz, „Roboterinteraktion<br />
mittels Battle Management Language,“ Technical Report FKIE-ITF/2010/01. Wachtberg:<br />
Fraunhofer FKIE, 2010.<br />
[9] T. Remmersmann, B. Brüggemann, <strong>and</strong> M. Frey, “Robots to the Ground.” in Concepts<br />
<strong>and</strong> Implementations for Innovative <strong>Military</strong> <strong>Communications</strong> <strong>and</strong> <strong>Information</strong><br />
Technologies, <strong>Military</strong> University of <strong>Technology</strong>, ISBN 978-83-61486-70-1, 2010,<br />
pp. 61-68.<br />
[10] A. Tiderko, T. Bachran, F. Hoeller, <strong>and</strong> D. Schulz, “RoSe – A framework for<br />
multicast communication via unreliable networks in multi-robot systems,” Robotics<br />
<strong>and</strong> Autonomous Systems, vol. 56, 2008, pp. 1017-1026.<br />
[11] U. Schade, M.R. Hieb, M. Frey, <strong>and</strong> K. Rein, “Comm<strong>and</strong> <strong>and</strong> Control Lexical<br />
Grammar (C2LG) Specification”, Technical Report FKIE-ITF/2010/02. Wachtberg:<br />
Fraunhofer FKIE, 2010.<br />
[12] M. Gerz, <strong>and</strong> U. Schade, “Das Joint Consultation Comm<strong>and</strong> <strong>and</strong> Control<br />
<strong>Information</strong> Exchange Data Model”, in J. Grosche, <strong>and</strong> M. Wunder, (Eds.), Verteilte<br />
Führungsinformationssysteme. Heidelberg, Germany: Springer, 2009, pp. 219-234.
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