Transcript Department of Electrical and

Arizona’s First University.
Command and Control (C2) Wind Tunnel:
High-level Multi-rotorcraft Autonomy
Jacob Gulotta, Diyang Chu, Ximing Yu, Hussain Al-Helal, Tapasya Patki,
Jason Hansen, Maribel Hudson, and Jonathan Sprinkle, University of Arizona
Featuring work by Janos Sztipanovits, Gabor Karsai, Himanshu Neema,
Harmon Nine, Nicholas Kottenstette
In collaboration with Vanderbilt University, and the University of California, Berkeley.
Supported by US AFOSR.
What domain is this anyway?
Electrical and Computer Engineering
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Command and Control
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Lots of decision makers, looking at tactical data, making command decisions.
Lots of monitors
Lots of data
Lots of decisions to make
Types?
– Tactical actors (manned/unmanned components)
– GUI elements (human interfaces)
– Vignettes (tactical tests)
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Example vignette:
– A UAV is sent to a location to look for red trucks. After a red truck is spotted,
the UAV reports its location. The C2 staff tell that UAV to “track” the red
truck. The UAV then stays as close as it can.
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Example problems:
– What kind of UAV is it? What kinematic/dynamic properties does it have?
– What connection/network settings do I use? Am I communicating via TCP/IP,
or something more primitive? How do I operate under non-robust network
assumptions?
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Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"
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Graphically?
Electrical and Computer Engineering
* From an unpublished manuscript by Balogh, et al.
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Characteristics of the integrative modeling environment
Electrical and Computer Engineering
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Abstractions
– Communication by message passing (i.e., interaction models)
– Messages are strongly typed (i.e., interaction types)
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Generate Structure for Existing Implementations
– Code synthesis of interaction types permits multi-language implementations
• Use MATLAB, Java, c++, Colored Petri-Nets, etc., for implementation
– Underlying discrete-event simulator permits pause/resume
– Scenarios are independent of types
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Enable Experimentation
– Runtime infrastructure enables various delays
– Logging infrastructure for after-experimentation comparisons
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Defining the Message and Integration Types
Electrical and Computer Engineering
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Defining the Message and Integration Types
Electrical and Computer Engineering
06/18/2009
Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"
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Defining Component Interconnectivity
Electrical and Computer Engineering
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UA Work and Contributions: Today’s Agenda
Electrical and Computer Engineering
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Scenario realism: a brief demo, and motivation for new technology
– Permit pathological behavior by an opponent, to test C2 abilities
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Algorithms for camera-based detection
– How to simulate camera-based sensors in a heterogeneous
environment
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Aerial search algorithms to detect ground vehicles
– What is the best way to look for a vehicle on the ground?
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Control for search/tracking of aerial vehicles
– Necessary components, and realistic values
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Future work enabled
– Modeling of Embedded Human Systems
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More Reading
Electrical and Computer Engineering
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Jacob Gulotta, Diyang Chu, Ximing Yu, Hussain Al-Helal, Tapasya Patki, Jason Hansen,
Maribel Hudson and Jonathan Sprinkle. "Using Integrative Models in an Advanced
Heterogeneous System Simulation." In The 16th Annual International Conference and
Workshop on the Engineering of Computer Based Systems, pp. 3-10, April, 2009.
Tapasya Patki, Hussain Al-Helal, Jacob Gulotta, Jason Hansen and Jonathan Sprinkle.
"Using Integrative Modeling for Advanced Heterogeneous System Simulation." In The 8th
OOPSLA Workshop on Domain-Specific Modeling, pp. 80-85, October 19-20, 2008
This work is supported by the Air Force Office of Scientific Research, under award
#FA9550-06-1-0267, titled “Human Centric Design Environments for Command and Control
Systems: The C2 Wind Tunnel”
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Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy"
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