Detailed Mission Level Modeling and Simulation Framework Utilizing the Unified System for Automation and Robot Simulation for Micro Autonomous Systems and Technologies

摘要

Army Research Laboratory sponsored project Micro Autonomous Systems and Technologies seeks to develop new technologies to enhance the warfighter's small unit tactical situational awareness in complex terrain. The development consists of multifunctional, autonomous and collaborative microsystem swarms. Over the course of this paper a methodology for modeling and simulating these technologies within a mission, effectively, efficiently, and viably is developed. The choice of the analysis environment will be presented and defended for the task. Whenever possible, physical models of subsystems are included to ground simulation in reality. Metrics to define a system's performance as mission effective are developed. A robotic system simulation platform, the Unified System for Automation and Robot Simulation, is utilized to simulate a jungle reconnaissance mission performed by autonomous flying vehicles working collaboratively from beginning to end. The primary design study is in technology impact forecasting. Vehicle characteristics such as weight and power consumption are varied from current level to future technology levels. Results are in the form of fundamental and emergent trends linking vehicle, swarm, and technology characteristics to mission effectiveness.