Preface
MESAS 2020 Organizer
Organization
Contents
Future Challenges of Advanced M&S Technology
Quantum Computing Based on Quantum Bit Algebra QBA
1 Introduction
2 Geometric Algebra
3 Geometric Algebra G3
4 Quantum Gates
5 QBA
6 Lie Algebra of QBA Bivectors
7 Hyperbolic Qubits
8 GAALOPWeb for Qubits
9 The Example of the Basic Quantum Gate NOT
10 Conclusions
References
On Building Communication Maps in Subterranean Environments
1 Introduction
2 Related Work
3 Proposed Communication Map Model
3.1 Gaussian Process
3.2 Descriptor Functions in GP-based Communication Map
4 Results
5 Conclusion
References
Combat UGV Support of Company Task Force Operations
1 Literature Review
2 Requirements for Company Combat UGVs
2.1 Other Manners of the Combat UGV Group Utilization
3 The MCS CZ Multiple Maneuver Route Planning
4 Case Studies of the Combat Use of the Company Task Force UGV Group
4.1 Setting Speed of the MCS CZ in Tactical Situations
5 Conclusion
References
M&S Driven Experimentation for Concept Development on Combined Manned and Unmanned Vehicles in Urban Environment: Simulation Design
1 Introduction
2 Problem FormulationâStudy Objectives
3 Methodology
4 Results
4.1 Development of Scenario
4.2 Development of the Conceptual Model
4.3 Develop Simulation Environment Requirements
5 Conclusion
References
UAV Based Vehicle Detection with Synthetic Training: Identification of Performance Factors Using Image Descriptors and Machine Learning
1 Introduction
2 Object of Research
3 State of the Art: Datasets, Image Descriptors, Classifiers
3.1 Datasets for Image Pair Generation and UAV Vehicle Detection
3.2 Image Descriptors as Classification Features
3.3 Classification Algorithms
3.4 Feature Selection Methods
3.5 Feature Importance Methods
4 Statistical Evaluation Based on a Classification Chain
5 Evaluation and Results
5.1 Classification of Real and Synthetic Image Pairs
5.2 Classification of Independent Real and Synthetic Training and Test Data
5.3 Classification of Correct and Incorrect Bounding Boxes
6 Conclusion and Future Work
References
Combining Epidemiological and Constructive Simulations for Robotics and Autonomous Systems Supporting Logistic Supply in Infectious Diseases Affected Areas
1 Introduction
1.1 COVID-19 Pandemic: The Rise of the Biological Threat
1.2 Aim and Purpose of the Paper
2 Creating a Spatiotemporal Epidemiological Scenario
2.1 The Spatiotemporal Epidemiological Modeler (STEM)
2.2 The STEM Scenario
3 RAS Addressing Operational Problems
4 Creating a MASA SWORD Scenario
4.1 The MASA SWORD Constructive Simulation
4.2 Environment Model
4.3 Unmanned Ground Vehicle (UGV) Behaviour Model
4.4 The SWORD Scenario
4.5 SWORD Database Implementation
5 Doctrine and COA Analysis with SWORD
5.1 Analysis of Courses of Action 1 and 2
5.2 Doctrine Analysis
6 Conclusions
References
M&S of Intelligent Systems - R&D and Application
Numerical Experiment on Optimal Control for the Dubins Car Model
1 Introduction
2 Differential Kinematics of the Mechanism
3 Lie Algebra of the System
4 Optimal Control of the System
5 Optimal Control on Nilpotent Lie Algebra
6 Symmetries
7 Numerical Simulations
8 Conclusion
References
M&S Based Testbed to Support V&V of Autonomous Resources Task Coordinator
1 Introduction
2 Simulation Environment
2.1 Platforms
2.2 Sensors
2.3 Environment
2.4 Autonomous Resource Task Coordinator Integration
3 Scenario
4 Results
4.1 Simulators Verification and Validation
4.2 Experimental Set up for the ARTC
4.3 Discussion of the Results
5 Conclusions and Way Ahead
References
Replacement Possibilities of the Medium-Size Truck Transport Capability by UAVs in the Disturbed Logistics Infrastructure
1 Introductory Characteristics
2 Possible Scenario of Humanitarian Distribution Logistics
3 Research Goal, Methodology and Limitations
4 Computing Model Creation and Its Modifications
5 Conclusions
References
Experimental Leg Inverse Dynamics Learning of Multi-legged Walking Robot
1 Introduction
2 Problem Statement
2.1 Leg Inverse Dynamics Model
2.2 Hexapod Robot Locomotion Controller
3 Learning-Based Inverse Dynamics Models
4 Experimental Evaluation
5 Conclusion
References
Multi-UAV Mission Efficiency: First Results in an Agent-Based Simulation
1 Introduction
2 Concept
2.1 AHP-Based Metric Derivation
2.2 From Measurement to Metric
2.3 Aggregation of Results
2.4 Analysis
3 Experiments in a Simulation Environment
3.1 Goal
3.2 Scenario and System of Systems
3.3 Simulation Design
4 First Results
5 Discussion
6 Conclusion and Future Research
References
The GRASP Metaheuristic for the Electric Vehicle Routing Problem
1 Introduction
1.1 Related Works
2 Methods
2.1 Problem Formulation
2.2 GRASP Metaheuristic
2.3 Construction
2.4 Local Search
3 Results and Discussion
3.1 Dataset Description
3.2 Parameters Tuning
3.3 Final Results
4 Conclusion
References
Stereo Camera Simulation in Blender
1 Introduction
2 State of the Art
2.1 Blender and Other Simulation Tools
2.2 Pinhole Camera
2.3 April Camera Calibration
2.4 Camera Simulation in Blender
3 Stereo Camera Simulation System
3.1 3D Model
3.2 Stereo Camera Simulation
3.3 Capturing Software
4 Experiments
4.1 Synthetic Data
4.2 Data Evaluation
4.3 Testing of 3D Reconstruction System
5 Conclusions
References
Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios
1 Introduction
2 Related Work
3 Evaluation Method for Localization Systems
4 Results
4.1 Localization Error
4.2 Remarks on Practical Usage of the Intel RealSense Cameras
5 Conclusion
References
AxS/AI in Context of Future Warfare and Security Environment
Model of Surveillance in Complex Environment Using a Swarm of Unmanned Aerial Vehicles
1 Introduction
2 Problem Formulation
2.1 Model of Aerial Surveillance
2.2 Model of Aerial Surveillance with Simultaneous Detection
3 Solution Algorithms
3.1 Evaluation of a Solution
3.2 Deployment of Waypoints
4 Experiments and Results
4.1 Benchmark Surveillance Operations
4.2 Simulation Results
4.3 Analysis and Discussion
5 Conclusions
References
Initial Solution Constructors for Capacitated Green Vehicle Routing Problem
1 Introduction
2 Related Work
3 Problem Definition
4 Selected Methods
4.1 Initial TSP Constructions
4.2 CGVRP Tour Repair Procedures
5 Results and Discussion
5.1 Experiment Setup and Parameters
5.2 Initial Construction Comparison
6 Conclusions
References
Artificial Intelligence in the Defence Sector
1 Excursus
2 Strategic Approach to Military and Defence AI
3 Strategic Importance of AI
4 Future Developments
5 Conclusion
References
Artificial Intelligence and Robotics Addressing COVID-19 Pandemicâs Challenges
1 Introduction
1.1 Background and Identification of the Problem
1.2 Aim, Purpose and Methodology
2 New Technologies in Support of the Fight Against COVID-19
3 Artificial Intelligence, Drones and Robots
4 Lessons from the Pandemic for the Post-pandemic World
5 Ethics, Bias and Privacy
6 Linking AI and Robotics with the HDP Nexus
7 Conclusions
References
ORB-SLAM2 Based Teach-and-Repeat System
1 Introduction
2 State of the Art
2.1 ORB-SLAM2
2.2 Teach-and-Repeat
2.3 SSM-Nav
3 Teach-and-Repeat Method
4 Experiments
4.1 Hardware and System Implementation
4.2 Tests of Systems
5 Conclusions
References
Author Index