The Multiple Resource Host Architecture (MRHA) performs Command and Control (C2) for security robots. The MRHA allows a single human guard to oversee and monitor up to 255 unmanned vehicles and/or sensors. Lessons learned from user testing have led to C2 improvements that optimize the integration of the Unmanned Vehicle Systems (UVS) with the manned guard force. The Mobile Detection Assessment Response System (MDARS) is a joint Army-Navy development effort to field mobile robots at DoD sites for physical security and automated inventory missions. Autonomous platforms patrol inside warehouses (Interior) and outside of storage facilities (Exterior), carrying payloads for intruder detection, inventory assessment, and barrier assessment. The MDARS Control Station is based upon the MRHA. This paper provides an overview of the concept of operations for MDARS with emphasis on the coordination between the manned and unmanned forces. Detail is provided on the recent MRHA development including integration with legacy fixed sensors systems, seamless communication of "eyes and ears" data of the response force to the dispatcher, and resource management to handoff control of an unmanned vehicle from a remote dispatcher to an on-scene commander.
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