David W. Seidel

A distributed, multi-language architecture for large unmanned ground vehicles

In this paper, we describe the design and development of a network of large unmanned ground vehicles (LUGVs) using low-cost, off-the-shelf technology and building upon experience gained at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. Our unique distributed architecture allows robots with different capabilities to interact, facilitates the use of multiple programming languages, and supports location and employment transparency of the interacting software agents. We wrote safety-critical and real-time software in Ada to benefit from the languages precise semantics and timing control, while writing navigation, maneuvering, user interaction, and visualization software in Java for rapid, flexible development.

MITRE Meteor: An Off-Road Autonomous Vehicle for DARPA’s Grand Challenge

The MITRE Meteor team fielded an autonomous vehicle that competed in DARPA’s 2005 Grand Challenge race. This paper describes the team’s approach to building its robotic vehicle, the vehicle and components that let the vehicle see and act, and the computer software that made the vehicle autonomous. It presents how the team prepared for the race and how their vehicle performed.

CIMBLE: Distributed Team Training via HLA

CADETT is researching the use of advanced and emerging technologies in adult and workplace training. CIMBLE is the current result of that research. It provides a distrib uted and collaborative virtual environment for conducting team training. This paper describes the technology and application of CIMBLE and how HLA was used in its implementation.

A brief review of the command forces (CFOR) program

The command forces (CFOR) program is implementing a new aspect of warfare simulation: explicit modeling of command and control. The program presents several aspects: a concept of operations where command and control nodes populate the battlespace in the same manner as weapons systems; an architecture where software simulation of command and control interacts with the battlefield through a set of common services; a software design for the services that forms an infrastructure that integrates with underlying semi-automated forces simulation; a mechanism that facilitates automated integration of real world C2 systems with simulations; and an implementation plan that integrates the efforts of multiple developers to produce a functioning multi-service command forces simulation. The CFOR program has passed through the concept and planning phases and is being implemented. Lessons learned from progress to date are presented along with a plan for further development and integration.

An experiment in simulation interoperability

The AWSIM Interoperability with ModSAF (AIM) program is investigating interfacing traditional constructive simulations with virtual simulations. The program addresses a number of issues involved in this interoperability. As a mechanism for exploring these issues, ModSAF is used to create a detailed window into an AWSIM exercise; modeling of AWSIM aircraft entering the window is transferred to ModSAF. A prototype was developed to investigate the practical aspects of the interface issues. Knowledge, algorithms, and software developed in this program will support future Air Force wargame development.