Preface
MESAS 2019 Organizer
Organization
Contents
M&S of Intelligent Systems - AI, R&D and Application
Aerial Reconnaissance and Ground Robot Terrain Learning in Traversal Cost Assessment
1 Introduction
2 Multi-goal Path Planning from Aerial Imagery
3 Proposed Method
4 Results
5 Conclusion
References
Combined PSO Methods for UAVs Swarm Modelling and Simulation
1 Introduction
2 Combined PSO Methods
2.1 Leadership
2.2 Formations
2.3 Simple Collision Avoidance
2.4 Predicted Collision Avoidance
2.5 Combinations
3 UAVs Swarm Simulation Environment
4 Simulation Experiments
4.1 Collision Avoidance Mechanism Experiments
4.2 Combined Leadership Mechanism
4.3 Combined Formations Mechanism
5 Conclusion
References
Kinematic Model of a Specific Robotic Manipulator
1 Introduction
1.1 Rigid Motion
1.2 Homogeneous Representation
1.3 Exponential Coordinates for Rigid Motion and Twists
2 Model of the Manipulator
3 Forward Kinematics
4 Inverse Kinematics
4.1 Denavit-Hartenberg Parameters
5 Conclusion
References
Low-Cost RGB-D-SLAM Experimental Results for Real Building Interior Mapping
1 Introduction
2 Low-Cost Mapping
2.1 The SLAM Loop
2.2 The Sensor: Microsoft Kinect for Windows v1
2.3 The Localization Algorithm: RGB-D-SLAM
2.4 The Closing: g2o Algorithm
2.5 The Representation: 3D Point Cloud
3 Application to the Mapping of the Interior of a Building
3.1 Overview
3.2 Caveats
3.3 Post-processing
4 Experimental Results
5 Conclusion and Future Work
References
Deep Learning Algorithms for Vehicle Detection on UAV Platforms: First Investigations on the Effects of Synthetic Training
1 Introduction
2 Object of Research
3 State of the Art: Datasets, Simulation Testbed and Algorithms
3.1 Natural Datasets for UAV Vehicle Detection
3.2 Presagis M&S Suite for Training and Testing in Synthetic Environments
3.3 Algorithms for UAV Vehicle Detection
4 Generation and Analysis of the Synthetic Data Set
4.1 Bounding Box and Ground Truth Generation for Synthetic Environments
4.2 Image Generation Scheme, Parameter Distribution and Explorative Data Analysis
5 Experimental Setup and Results
5.1 Metrics for Evaluation
5.2 Training
5.3 Natural Training Data and Influence of the Learning Rate
5.4 Performance on Synthetic Test Data for Natural Training
5.5 Training with the Virtual Training Data Set
5.6 Training with Mixed Data Set
6 Conclusion and Future Work
References
Building a Generic Simulation Model for Analyzing the Feasibility of Multi-Robot Task Allocation (MRTA) Problems
1 Introduction
2 Simulation of Multi-Robot Task Allocation
2.1 Related Work
2.2 MRTA Simulation Model
3 Design and Implementation of MRTA Simulation
3.1 The Need for an MRTA Simulation Tool
3.2 Terrain Editor
3.3 MRTASim
4 Experiments
5 Conclusion
References
Remark on Volumetric Errors in Kinematic Chain of MCV 754 Quick
1 Introduction
2 Multilateration
3 Measuring on Milling Machine
4 Kinematic Chain
5 Comparison
6 Conclusion
References
Terrain Learning Using Time Seriespg of Ground Unit Traversal Cost
1 Introduction
2 Time-Series Dataset and the Terrain Learning Problem
3 Time Series Learning Growing Neural Gas
4 Results
4.1 Terrain Classification
4.2 Traversal Cost Prediction
4.3 Discussion
5 Conclusion
References
Simulation of the Guidance and Control Systems for Underactuated Vessels
1 Introduction
2 Simulation Platform
2.1 Ship Modeling
2.2 RRT* Algorithm
2.3 Motion Control
3 Simulation Results
4 Conclusions
References
Automatic Take Off and Landing for UAS Flying in Turbulent Air - An EKF Based Procedure
1 Introduction
2 Proposed Procedure
2.1 First EKF: Estimation of Disturbances
2.2 Second EKF: Estimation of Control Actions
3 Results
4 Concluding Remarks
References
Simulating UAS-Based Radiation Mapping on a Building Surface
1 Introduction
2 Simulation of Measured Radiation Data
2.1 Radiation Theory
2.2 Building Model
2.3 Analysis of the Material Structures in a Ray Trajectory
2.4 Experimental Setup
3 Radiation Mapping Methods
3.1 Radiation Mapping Method 1
3.2 Radiation Mapping Method 2
3.3 Data Interpolation
4 Results
4.1 Simulated Radiation Data
4.2 Radiation Mapping
5 Conclusion
References
Inverse Kinematics for the Industrial Robot IRB4400 Based on Conformal Geometric Algebra
1 Introduction
2 Conformal Geometric Algebra - CGA
3 Manipulator Description
4 Inverse Kinematic Model
4.1 Finding the Final Positions of the Joints
4.2 Computing the Joint Angles
4.3 Experiment
5 Conclusion
References
Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles
1 Introduction
1.1 State of the Art
1.2 Motivation and Preliminaries
2 Hardware Architecture
3 System Software Pipeline
4 Gripper Design
4.1 Electromagnet and Switching Circuit
4.2 Gripper Housing and Mount
4.3 Feedback Sensors
4.4 Control Through ROS:
5 Feedback Estimation and Algorithm
5.1 Hall Sensor
5.2 Proximity Sensor
6 Outdoor Experiments
7 Conclusion
References
Multiple Carrier-Vehicle Travelling Salesman Problem
1 Introduction
2 Problem Statement
3 Proposed Heuristic
4 Numerical Results
5 Conclusion
References
Speeded Up Elevation Mappg for Exploration of Large-Scale Subterranean Environments
1 Introduction
2 Related Work
3 Autonomous Exploration Framework
3.1 Map Representation
4 Results
4.1 Exploration with Small Hexapod Walking Robot
4.2 Exploration of Subterranean Environment
5 Conclusion
References
Modular Rover Design for Exploration and Analytical Tasks
1 Introduction
2 Related Work
3 Rover Design
3.1 Simulations
3.2 Chassis
3.3 Task Specific Modules
3.4 Overview Subsystem
3.5 Communication Subsystem
3.6 Control of the Rover
4 Conclusions
References
Machine Learning-Based Open Framework for Multiresolution Multiagent Simulation
1 Introduction
2 Related Work
3 Adaptation of Reinforcement Learning
3.1 Definitions
3.2 Reinforcement Learning Methods
3.3 Disaggregation Method
4 Multiagent Multiresolution Simulation Framework
4.1 Architecture
4.2 Java-Based Framework for Hybrid Simulation
4.3 Multi-agent Reinforcement Learning
5 Conclusion
References
Future Challenges of Advanced M&S Technology
Model of Observation Posts Deployment in Tactical Decision Support System
1 Introduction
2 Problem Formulation
3 Problem Solution
4 Implementation
5 Experiments and Results
6 Conclusions
References
The Weighted Core of Games Based on Tactical Decisions
1 Introduction
2 Myerson Value
3 Axiomatic Definition of Solutions
4 Conclusion
References
The Possibilities and Usage of Missile Path Mathematical Modelling for the Utilization in Future Autonomous Air Defense Systems Simulators
1 Introduction
2 Missile Guidance Laws
3 Mathematical Model
3.1 Model of Three Points LOS Guidance Method
3.2 Model Implementation
4 Conclusion
References
Practical Comparison of Communication Technologies Suitable for Field Robotics
1 Introduction and Motivation
2 Measuring Communication Link Properties
2.1 Specifics of Communication in Field Robotics
2.2 Analysis of Video Feed Data
2.3 Time Synchronization
3 System for Evaluation of Communication Links
3.1 Communication Simulating Software
3.2 Evaluation System Control and Data Processing
3.3 Processing the Measured Data
4 Sample Results
5 Further Work
6 Conclusion
References
DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments
1 Introduction
2 Related Work
3 Contest Specification
3.1 Contest Environment
3.2 Artifacts and Scoring
3.3 Competition Timeline and Rounds
4 Robots and Sensory Equipment
4.1 Wheeled Robot - Husky A200
4.2 Tracked Robots - Absolem
4.3 Crawling Robots - Hexapods
4.4 Aerial Robots - Quadrotors
4.5 Communication
5 Software
5.1 Object Detection
5.2 Localization and Mapping
5.3 Navigation
5.4 Exploration
5.5 Coordination
5.6 Interface
6 Experiments and Deployments at Mines
7 Conclusion
References
Utilization of Modeling and Simulation in the Design of Air Defense
1 Introduction
2 Conditions of Success of Military Operation
3 Timely and Full Assessment of the Situation
4 Decision-Making Modelling
5 Simulation of the Process of Designing the Battle Layout
6 Conclusion
References
Analysis and Optimization of the Resilience Enhancement Circle via Data Farming
1 Introduction
2 Terms, Definitions, and Relations to the ISO/OSI Model
3 Simulation-Based Analysis of the Performance Measure
3.1 Simulation with Fixed Values
3.2 Defining the Training Level
3.3 Correlation Effects in Training
4 Simulations for Optimized Training Schedules: Data Farming
5 Conclusion
References
Virtual Reality and Autonomous Systems to Enhance Underwater Situational and Spatial Awareness
1 Introduction
2 Background on VR/AR Reality Applications for Situational Awareness
3 Tactical VR/AR for Underwater Situational and Spatial Awareness
4 An Example of Usage for MCM and M-IED Scenarios
5 Conclusions and Way Ahead
References
Smartness and Autonomy for Shipboard Power Systems Reconfiguration
1 Introduction
2 The Problem
3 An Architecture for Autonomous and Smart Systems
3.1 The Three Levels of Autonomy
3.2 The Overall Architecture for Smart Management
4 Experimental Evaluation
4.1 Specification of the Proposed Testbed
4.2 Testbed Implementation Details
4.3 Limits of the Proposed Testbed
5 Conclusions and Future Works
References
AxS in Context of Future Warfare and Security Environment (Concepts, Applications, Training, Interoperability, etc.)
AI-Powered Lethal Autonomous Weapon Systems in Defence Transformation. Impact and Challenges
1 Introduction
2 Methodological Approach
3 Autonomy and Decision-Making
4 Autonomous Systems Impact on the Defence
5 Ethical and Legal Issues, Risks for Security
6 Simulation for Systems Which Can Learn
7 Conclusions and Possible Solutions
References
Aspects of Air Defence Units C2 System Modelling and Simulation
1 Introduction
1.1 Air Command and Control System Structure
Modelling and Simulation Paradigms to Support Autonomous System Operationalization
1 Introduction
Wars Without Soldiers and Casualties or Victories in Hearts and Minds?
1 Introduction
2 Robotic Weapons in Counterinsurgency Operations
3 Cultural Dimension of AS Use
4 Conclusion
References
Maneuver Control System CZ
1 MCS CZ Models
1.1 Envelopment
1.2 Turning Movement
1.3 Frontal Attack
1.4 Attack by Fire
1.5 Withdrawal
2 Testing Maneuver Models
2.1 Turning Movement
2.2 Envelopment
2.3 Frontal Attack
2.4 Attack by Fire
3 Conclusion
References
C2SIM Operationalization Extended to Autonomous Systems
1 Introduction
2 R2CD2 Project
2.1 Level of Autonomy (LoA)
3 Autonomous Systems eXtension (ASX)
3.1 Scenario Development
3.2 Ontology and XML Schema
4 ASX Experimentation
4.1 R2CD2 Demonstrator
4.2 CWIX 2019
4.3 MSG-145 Mini-exercise
5 Conclusions
5.1 Way Ahead
References
Legality and Legitimacy of the Autonomous Weapon Systems
1 Introduction
2 Legality
2.1 International Humanitarian Law
3 Legitimacy
4 Legality and Legitimacy of the Autonomous Weapon Systems
4.1 Legal and Legitimate
4.2 Illegal and Illegitimate
5 Conclusion
References
ASAT Weapons: Enhancing NATO’s Operational Capabilities in the Emerging Space Dependent Era
1 Introduction
2 The Applications of Space Platforms
3 Asat
3.1 Hard-Kill and Soft-Kill ASAT Weapons
3.2 ASAT Testings
3.3 Future Threats
4 The Legal Approach of ASAT Weapons
4.1 Space Law
4.2 International Humanitarian Law
5 Actions that Can Be Taken to Contrast ASAT Weapons
6 Conclusion
References
Persistence Through Collaboration at Sea for Off-Shore and Coastal Operations
1 Introduction
2 Marine Domain and Protection of Critical Infrastructures
3 Collaborative Operations Based on the Revolver
4 Mission Models and Scenario Description
5 Conclusions
References
Author Index