Communication and collaboration of heterogeneous unmanned systems using the joint architecture for Unmanned Systems (JAUS) standards

摘要

The Naval Undersea Warfare Center Division Newport (NUWCDIVNPT) and Georgia Tech Research Institute (GTRI) completed a successful at-sea exercise with autonomous UAS and UUV systems demonstrating cross-domain unmanned system communication and collaboration. The exercise was held at the NUWC Narragansett Bay Shallow Water Test Facility (NBSWTF) range, and it represented for the first time the use of standard protocols and formats that effectively support cross-domain unmanned system operations. Four man-portable Iver2 UUVs operating in coordinated missions autonomously collected environmental data, which was compressed in-stride, re-formatted, and exfiltrated via UAS relay for display and tactical decision making. Two UAS with autonomous flight take-off and mission execution were sequenced to serve as ISR platforms and to support communications as RF relays for the UUVs performing Intelligence Preparation of the Environment missions. Two Command and Control nodes ashore provided unmanned system tasking and re-tasking, and they served to host and display both geo-positional data and status for UAS and UUV vehicles during the operational scenarios run during the exercise. The SAE Joint Architecture for Unmanned Systems (JAUS) standards were used for all message traffic between shore-based C2 nodes, UAS, and UUVs active in the NBSWTF exercise area. Exercise goals focused on CNO priorities expressed in the Undersea Domain Operating Concept of AUG 2013 which emphasized protocols essential to effective command and control of networked unmanned systems with decentralization and flexibility of command structures. Development for this project highlighted both the strengths and shortfalls of JAUS and captured the requirements for moving forward in effective cross-domain communications that support distributed, agile C2 nodes to meet evolving CONOPS for growing unmanned system presence and mission roles. The scenario employed operating parameters for UAS and UUV that have been- established in real-world operations and ongoing unmanned system programs. The tactical information from unmanned systems was displayed in real-time on shore-based C2 displays: the tactical FalconView display and the developmental TOPSIDE command and control station. This work represents a critical step in communications for networking of heterogeneous unmanned systems and establishes a solid platform for alignment of development and ongoing programs. The evaluation of JAUS suitability for near-term operational applications provides significant value as Concepts of Operation that rely on netted heterogeneous systems are being targeted. The focus on affordable commercial unmanned systems for this experimentation establishes the value of highly capable, portable systems to provide economical development and test opportunities with low-cost and low-risk alternatives to many planned and fielded systems. The JAUS architecture was introduced to the NUWC and GTRI unmanned systems though an instantiation of the Mission Oriented Operating Suite (MOOS) autonomy framework on secondary CPUs integrated into the Iver2 UUVs and the GTRI UAS. Since the GTRI UASs already had ROS installed, a MOOS-ROS bridge was employed to support use of the developed JAUS messaging capability. Established JAUS services were employed where the required functions could be met. New JAUS services were developed to meet functionality required for the operational scenarios in this exercise but not yet supported in the existing releases of SAE JAUS. Independent C++ header libraries that could be compiled at run time for specific autonomy frameworks, such as MOOS, were employed to support a software-agnostic approach. Immediate targets for broadening the influence of this work to coalition partners include the NATO Recognized Environmental Picture (REP) 2015 and The Technical Cooperation Program (TTCP) 2015 exercises. This project and demonstration was funded under a NUWC Strategic Initiat