Accession Number : AD1003560


Title :   Design and Implementation of a Unified Command and Control Architecture for Multiple Cooperative Unmanned Vehicles Utilizing Commercial Off the Shelf Components


Descriptive Note : Technical Report,01 Sep 2014,24 Dec 2015


Corporate Author : Air Force Institute of Technology Wright-Patterson AFB United States


Personal Author(s) : Gray,Jeremy


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1003560.pdf


Report Date : 24 Dec 2015


Pagination or Media Count : 177


Abstract : Small unmanned systems provide great utility to military applications due to their portable and expendable design. These systems are, however, costly to develop, produce, and maintain, making it desirable to integrate available commercial off the shelf (COTS) components. This research investigates the integration of COTS components through the development of a modular unified command and control (C2) architecture for heterogeneous and homogeneous vehicle teams to accomplish formation flocking and communication relay scenarios. A vehicle agnostic architecture was developed to be applied across different vehicle platforms, different vehicle combination, and different cooperative missions. COTS components consisting primarily of open source hardware and software were integrated and tested based on the positional accuracy, precision, and other qualitative measures. The resulting system successfully demonstrated formation flocking in three of four vehicle combinations, with the forth still demonstrating leader follower behaviors. The system achieved at best a mean positional error of 0.99m, a standard deviation of 0.44m, and a DRMS of 0.59m....


Descriptors :   COOPERATIVE CONTROL , COMMAND AND CONTROL , NETWORK ARCHITECTURE , UNMANNED VEHICLES , UNMANNED AERIAL VEHICLES , UNMANNED GROUND VEHICLES


Distribution Statement : APPROVED FOR PUBLIC RELEASE