Intelligent Autonomy Update

1. Intelligent Autonomy Update Marc Steinberg Office of Naval Research (703) 696 – 5115, marc_steinberg@onr.navy.mil Naval Air Systems Command (301) 342 – 8567, marc.steinberg@navy.mil SAE Control & Guidance Committee Meeting, 2 March, 2005

2. Intelligent Autonomy Future Vision External C4I, Data Filtering Mixed-Initiative Human Interface Common Operational Picture High Level Mission Requirements/ROE Common Information Management Multi-Vehicle Mission Planning Management of 5-10 UxV’s Task Scheduling, Routing, Constraints, Priorities Share Mission Relevant Info Report Status Multiple Types of Vehicle Interfaces/Comms UGV Locally Controlled, Shares Info UUV Local Planning & SA UAV Local Planning & SA USV Local Planning & SA Local Task Negotiation, Information Sharing

3. MOUT Site DemonstrationUniv. of Penn., Georgia Tech., USC, BBN, Mobile Intelligence • Summary • Team planning mechanisms geared towards maximizing communications capabilities in adverse conditions while on the move. • Integrated mission specification capabilities for parsing the tasks of overall mission objectives and mapping them onto heterogeneous UxV’s • V&V of autonomous algorithms • Joint with DARPA • Accomplishments • Integration of large number of heterogeneous UxV’s with different lower-level autonomy software • Framework integrating communications, perception, and execution for UxV’s • New algorithm development & implementation for communication sensitive behaviors, heterogeneous UxV tasking, distributed SA, and V&V of autonomous systems • Completed Demo at MOUT Site • Operator tasks multiple types of UAV’s and UGV’s with high-level commands • Mission execution while maintaining communication constraints • Future Work • Case-Based Reasoning & Multi-UxV Task Allocation to support mission specification • Extend V&V approach to test IA systems

4. Risk-Aware Mixed-Initiative Dynamic Replanning DemoDraper Laboratory/CRA • Summary • Single-operator mission management of multiple heterogeneous unmanned vehicles • Extend UUV software w/ increased autonomy on-board UUV & increased dynamic retasking capability for missions w/ comms constraints • Integration with on-board vehicle sensors & external systems N Region 3 Region 4 Region 2 Keep-out Region 1 No Comms Target region • Accomplishments • Initial software design & implementation • Integration of initial versions of SA, situation assessment, mixed-initiative interface, control station planning, UUV on-board planning/SA. • Initial integration with existing UUV lower-level autonomous control software • Usability analysis by NAVAIR & NSWC to recommend improvements • Completed Dynamic Replanning Demo w/ high-fidelity UUV simulation • Single UUV, UAV as comm link • Operator provides high-level tasking/constraints • Autonomously generates plan of activities for UUV to start the mission, transit, search shoreline for particular target classes, end mission • Monitors execution • Future Work • Extend to increase UAV/UUV cooperation, complexity of tasking, integration with other systems, & realism of simulation • In-water demonstration

5. Mission Control for Multiple UxV’s DemonstrationBAE Systems, Aptima, MIT, BU, Univ. of Minnesota • Summary • Allocates tasks based on operator high-level team tasking and constraints • Determines team & individual vehicle tactics to achieve objectives • Schedules activities for heterogeneous resources • Inputs to lower-level vehicle planners • Cooperation w/ realistic comms limitations • Accomplishments • Extended Mission Control System (MCS) to provide tasking and routing for naval autonomous systems. • Allocates tasks to vehicles including cooperative search and data collection • Constraints include time windows, precedence constraints, and no activity zones • Tasks prioritized as mandatory, high, med, or low. Drops lower priority tasks if not feasible. • Multi-UxV Simulation Demonstration • Firescout, J-UCAS, BAMS, USV • Operator provides high-level team tasking, ROE’s, & constraints • Replans following changes in environment or new tasking • Future Work • Simulation Demonstration in communication limited environment (joint with Air Force) • Local planning under constraints on vehicle when outside of communication

6. Maritime Image UnderstandingNorthrop/Carnegie Mellon University • Summary • Maritime Image Understanding for autonomous sensor-directed dynamic replanning • Supports low elevation UUV mast with no mechanical stabilization of image • Detects, classifies, and tracks targets • Joint with DARPA Completed In-Water Demo on Spartan USV • Accomplishments • Reliable surface object detection in clear and hazy conditions • Image stabilization using software only • Low false alarm rate for shoreline man-made object detection • Interesting object detection to direct data collection • Real-Time maritime scene segmentation/high speed video array & limited classification capability Surface Object Detection & Tracking Shoreline Detection • Future Work • Integration with on-board dynamic replanning software to enable replanning with sensed data • Additional in-water experimentation • Improved robustness Shoreline Man-Made Object Detection

7. com hellfi SAR1 EO eng Intelligent Control & Autonomous Replanning of Unmanned Systems (ICARUS) - Lockheed • Summary • Integrated suite of components to enable rapid highly automated and fully autonomous mission planning/replanning by high-level objectives • Determines optimized route that meets all constraints & mission objectives while also optimizing secondary priorities • Accomplishments • Integrated Multi-UV Task Allocation, Replanning, Replan Assessment, Information/Alert Management, Operator Interface, & Lower level GNC components • Objectives incorporated include search for stationary & mobile targets, EO/IR, SAR, Loiter, Steer-Point, Communication • Constraints incorporated included no-fly zones and LOS comms requirements (moving & stationary) • Completed Simulation Demonstration & Evaluation by 2 Navy & 2 Marine Corps Operators with 7 UAV’s (Firescout, BAMS, Future ISR) • Replanning for Dynamic Mission Events • New/Dropped Mission Tasks • Change in order of tasks • Failures/Weather/changes in environment • Future Work • Integration with naval control station • Simulation Demonstration in warfare environment at NAVAIR • Increased robustness/integration