1. Blue Bear Systems Research Soar Agents for Unmanned Air & Ground Vehicles Dr Phill Smith 24 th Soar Workshop 9 th – 11 th June 2004 Building 32, Twinwoods Business Park, Clapham, Bedfordshire MK41 6AE Tel: 01234 212001 Email: phill@bluebearsystems.com www.bluebearsystems.com www.bluebearsystems.com

2. Blue Bear Systems Research Presentation Overview Outline of project objectives, and vehicle functionality Outline of project objectives, and vehicle functionality Walkthrough slides of a typical simulation Walkthrough slides of a typical simulation Demonstration run Demonstration run Questions Questions Project funded by SAIC Project funded by SAIC

3. Blue Bear Systems Research Objectives Development of a Soar agent: Development of a Soar agent: Exercised from the Simulink simulation environment Exercised from the Simulink simulation environment Controlling: Controlling: Up to 6 unmanned ground vehicles Up to 6 unmanned ground vehicles Up to 4 UAV’s Up to 4 UAV’s Mission Mission Form up into a team Form up into a team Routine patrol through an urban area Routine patrol through an urban area Dynamically re-route around blocked roads Dynamically re-route around blocked roads Investigate areas of interest Investigate areas of interest

4. Blue Bear Systems Research Conflicting Goals The Unmanned Ground Vehicles: The Unmanned Ground Vehicles: Conduct a pre-planned patrol Conduct a pre-planned patrol Avoid blockages – dynamic route planning all done in Soar Avoid blockages – dynamic route planning all done in Soar Seal off an area of interest, and investigate Seal off an area of interest, and investigate The Unmanned Air Vehicles: The Unmanned Air Vehicles: Top priority is to provide the ground teams with comms- relay Top priority is to provide the ground teams with comms- relay May conduct surveillance over: May conduct surveillance over: Road blockages Road blockages Areas of interest Areas of interest

5. Blue Bear Systems Research Simulink Implementation

6. Blue Bear Systems Research A Typical Run - 1

7. Blue Bear Systems Research A Typical Run - 2

8. Blue Bear Systems Research A Typical Run - 3

9. Blue Bear Systems Research A Typical Run - 4

10. Blue Bear Systems Research A Typical Run - 5

11. Blue Bear Systems Research A Typical Run - 6

12. Blue Bear Systems Research A Typical Run - 7

13. Blue Bear Systems Research A Typical Run - 8

14. Blue Bear Systems Research Project Next Steps Exact detail to be determined Exact detail to be determined Moving towards hardware and experimentation Moving towards hardware and experimentation Will make use of our hardware developments Will make use of our hardware developments Simon Willcox – presentation no. 12 Simon Willcox – presentation no. 12

15. Blue Bear Systems Research Demo!

16. Conclusions Soar is well suited to: Soar is well suited to: Equipping vehicles with true autonomy Equipping vehicles with true autonomy Not just high level automation…… Not just high level automation…… Needs to be structured as a multi-agent system Needs to be structured as a multi-agent system Lends itself to software teams, not just individuals Lends itself to software teams, not just individuals Ease of code re-use Ease of code re-use Can be used in a vehicle systems engineering context Can be used in a vehicle systems engineering context But…. But…. Software V&V issues Software V&V issues Particularly with learning systems Particularly with learning systems Certification issues for safety critical systems Certification issues for safety critical systems