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.

2 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" What domain is this anyway? Command and Control –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) 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. 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?

3 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Graphically? * From an unpublished manuscript by Balogh, et al.

4 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Characteristics of the integrative modeling environment Abstractions –Communication by message passing (i.e., interaction models) –Messages are strongly typed (i.e., interaction types) 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 Enable Experimentation –Runtime infrastructure enables various delays –Logging infrastructure for after-experimentation comparisons

5 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Defining the Message and Integration Types

6 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Defining the Message and Integration Types

7 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Defining Component Interconnectivity

8 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" UA Work and Contributions: Today’s Agenda Scenario realism: a brief demo, and motivation for new technology –Permit pathological behavior by an opponent, to test C2 abilities Algorithms for camera-based detection –How to simulate camera-based sensors in a heterogeneous environment Aerial search algorithms to detect ground vehicles –What is the best way to look for a vehicle on the ground? Control for search/tracking of aerial vehicles –Necessary components, and realistic values Future work enabled –Modeling of Embedded Human Systems

9 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" More Reading 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, 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 , October 19-20, 2008 This work is supported by the Air Force Office of Scientific Research, under award #FA , titled “Human Centric Design Environments for Command and Control Systems: The C2 Wind Tunnel”