Enabling MUM-T within Army Formations - DARPA · Enabling MUM-T within Army Formations ......

U.S. ARMY TANK AUTOMOTIVE RESEARCH, DEVELOPMENT AND ENGINEERING CENTER

Enabling MUM-T within Army Formations

Robotics Community of Practice

30 Jan 2016

Dr. Robert W. SadowskiArmy Chief RoboticistChair, RDECOM Robotics Community of PracticeTARDEC Ground Vehicle Robotics

DISTRIBUTION STATEMENT A: APPROVED FOR PUBLIC RELEASE; DISTRIBUTION UNLIMITED

2

Outline

• Army RAS Strategy Overview

• MUM-T Definition

• Recent Dismounted Experimentation

• Congested Urban Environment Vignette

• Architecture Approach


… I'm telling you right now, 10 years from now if the first person through a breach isn't a **** robot, shame on us.”

–Deputy Secretary of Defense Robert Work, Reagan Defense Forum: The Third Offset Strategy, November 7, 2015.

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• Note HDL-32E LIDAR on Russian, Chinese, and

Commercial squad level transport demonstrators

• Snapshots of some systems from Open Source

Reporting

Worldwide our adversaries and others

are aggressively pursuing…

…. and they are looking to both

employ & sell them

URAN 9: Teleop UCV with

30mm/MANPADS/ATGM

VIKHR: Optionally manned BMP3

Scout variant with Tethered UAS

and UGV

From last month’s Russian Combat

Export Show

Sample Unmanned Combat Platforms

Army RAS Strategy Capability Progression

DISTRIBUTION STATEMENT A: APPROVED FOR PUBLIC RELEASE; DISTRIBUTION UNLIMITED 4

2025 Mid

2030 Far

Autonomous Convoy Operations (2020-2025)

Unmanned Air Systems Autonomy (2020)

Advanced Teaming for Tactical Missions (ATTac)(2020-2025)

Dynamic Force & Mission Autonomy (2030-2040+)

Extend the Reach of the Warfighter (2020)

2015

Active Safety Driver Assist (2015)

Mid Term Priorities: 2021-2030

Increase situational awareness advanced, smaller RAS and swarming

Lighten the physical load with exoskeleton capabilities

Improve sustainment with fully automated convoy operations

Improve maneuver with unmanned combat vehicles and

advanced payloads

2020 Mid

Far Term Priorities: Beyond 2030

Increase situational awareness with persistent reconnaissance from swarming systems

Improve sustainment with autonomous aerial cargo delivery

Facilitate maneuver with advancements to unmanned combat vehicles

Combined Arms Maneuver (2030-2035)

Optionally Manned Vertical Lift (2035-2040)

Near Term Priorities: Until 2020

Increase situational awareness for dismounted forces at lower echelons

Lighten the physical load for dismounted forces

Improve sustainment with automated ground resupply

Facilitate movement with improved route clearance

Protect the Force with EOD RAS platform and payload improvements

“Adapt Near ►Evolve Mid ► Innovate Far”

Autonomous Sustainment Systems Capability Progression

20252035

Combined Arms Maneuver (2030-2035)Autonomous Convoy

Operations (2020-2025)

Extend the Reach of the Warfighter (2020)

2015

2020

Driver Safety/Assist Leader/Follower Autonomous Convoy Operations Autonomous Off-Road Operations

Active Safety Driver Assist Appliqué Kits (2015)


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Robotics and Autonomy Enabled Systems Taxonomy

Tool

Independent Systems Team Member

• Concentrating on user "direct" control and has no "team-member negotiation" with the user

• Increased standoff but negative force multiplication effect

• These robots concentrate on autonomy, but relatively no negotiation with other manned or unmanned assets.

• Highly increased standoff but neutral force multiplication effect

Fielded C-IED Systems

Tele-op Platform with RWS

Leader-Follower Convoy

Leader-Follower Dismount

Route Clearance

Autonomous Convoy Operations

• These robots are mostly autonomous and negotiates with other manned and/or unmanned assets.

• Highly Increased standoff and positive force multiplication effect

Each class provides increased operational capability and generally increases in complexity (required more software/sensing)

from ‘Tool’ to ‘Team Member’

Tele-op Platform

RSTA

By Role and Degree of Autonomy

De

gre

e o

f A

uto

no

my


Desired Endstate:

• Develop, deliver and transition desired RAS capabilities

• Shape future RAS across all Army formations and warfighting functions

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RAS Strategy Implementation Framework

Develop RAS Capability

Sustain Integrated Campaign of Learning

Envision the Future

LOE 1:

LOE 2:

LOE 3:

Introducing robotics technologies into the formation is fundamentally new for the Army and requires concurrent technology development, operational experimentation and CONOPS development in order to maximize the capability offered by autonomous systems.


MUM-T Background

US Army RAS Strategy - Manned Unmanned Teaming – Manned unmanned teaming is the synchronized employment of

Soldiers, manned and unmanned air and ground vehicles, robotics, and sensors to achieve enhanced situational understanding,

greater lethality, and improved survivability. The concept of MUM-T is to combine the inherent strengths of manned and unmanned

platforms to produce synergy and overmatch with asymmetric advantages.

– RAS directly impacts 10 AWFCs: Develop Situational Understanding; Conduct Space and Cyber Electromagnetic Operations and Maintain

Communications; Conduct Air-Ground Reconnaissance and Security Operations; Conduct Joint Expeditionary Maneuver and Entry

Operations; Conduct Wide Area Security; Conduct Joint Combined Arms Maneuver; Set the Theater, Sustain Operations and Maintain

Freedom of Movement; Integrate Fires; Deliver Fires; and Execute Mission Command

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Simplified MUM-T Concept: Scalable integration of multi-domain robotic and autonomous

system capabilities teamed within Army formations supporting all the warfighting functions

MUM-T(G) OPERATIONAL CONCEPT

Unit employ sensors in depth, effects in depth, and

execute supporting actions enabling expanded

Area of Influence, improved survivability, serving as

force multipliers with expanded lethality.


Recent Dismounted Experimentation

• Recent warfighter experiments mix both industry and S&T platforms across a variety of environments focused on Squad Multipurpose Equipment Transport scale platforms and quad/micor quad scale UAS’s

• Challenge remains that current systems require 1 operator : 1 robot

• Assured Control – Comms/Cyber, etc. (User Trust)

Benefits of User Involvement: Soldiers turned

SMET into a mobile 60 mm mortar platform

Remote Weapons Station SMET

Utility SMET

Alaska - Arctic

OCT 2105: Robotic Enhanced Company

JUL 2016: Hawaii - Jungle

AP Lane Clearing SMET


Dismounted Robotic Breach

Tactical Scenario: Dismounted infantry tasked to seize a fortified crossroads in contested urban environment augmented by an organic heterogeneous mix of air/ground unmanned assets controlled by the infantry via tablet/speech recognition with tailorable, multi-mission capability.

• Screen dismounted elements• Provide AP/command-wire route clearance• Conduct initial air/ground/SubT mapping, and perceive

population dynamics.• Map / establish communication networks / fuse data

/enable JBCP• Provide situational awareness of obstacles, threats, and

population dynamics (augmented reality)• Enable obscurants and serve as remote weapon stations

providing both covering fire and concealment allowing placement of an unmanned breaching charge or unmanned physical breach.

• Unmanned remotely weaponized systems are the first elements through or around the breach to secure the flanks prior to seizure of the objective by manned assets.

• Autonomous short haul Aerial/ground resupply upon consolidation

• CASEVAC


AGVRA 2.x AGVRA 3.xAGVRA 1.0

Leader/Follower/Autonomous Convoy Operations

Active Safety Driver Assist Appliqué Kits

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Manned/Unmanned Mounted Teams

Unmanned Air-support and Comms. relay

Close-Combat Weaponized Support

Manned-Unmanned Teaming

Autonomous Ground Vehicle Reference Architecture (AGVRA)

Functional / Logical /

Operational Architecture

Hardware: ECU & Data Bus

Architecture, System Interfaces

Software: Architecture, Development

Framework, & Library

Fielded, Proprietary (Closed) Robotic Solutions

Go

v’t

Man

aged

A

rch

itec

ture

Rapidly build increased capability over time

• Expensive• Limits Innovation

•Difficult to Upgrade• Limits Competition

• Enables competition across the life cycle• Reduces cost and speeds development

•Rapid, cost effective evolution of capability• Enables Army to take advantage of industry innovation

Current Situation Future of Army Autonomy

Evolution of Ground Robotics Architecture

Work with developing Commercial Automotive Standards to influence them toward shared applications (i.e. on-road driving)

SAE J3131 - Automated Driving Reference Architecture

Influencing Developing Commercial Standards

ROS-M 1.x

GMSA 1.x

RTK 2.x

AMAS 2.x

IOP 3.0

ROS-M 2.x

GMSA 2.x

RTK 3.x

IOP 4.0

Autonomy Software Framework

Autonomy Software Application Design Approach

Autonomy Software Library

Interface between Autonomy Kit and By-Wire System

Interface (HW/SW) Standards for Ground Vehicle Robotics

ROS

GMSA .5

RTK 1.x

AMAS 1.x

IOP 2.0

Significant Architectural Views of AGVRA

4Q 20172015 2019

Developmental (Not Published)


AGVRA Software Architecture (Funded under the AGR STO)

Layered view of AGVRA Software Architecture

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Robotic Operating System (ROS)

Application Layer

Communication Layer

Class Library Layer

Hardware Interface Layer

Application Libraries

Processing / Autonomy Systems (Sensors, GPS, Ethernet, Power Supply, etc..)

External Subsystems (By-Wire Kit, Controllers, Payloads, Communication Systems)

Client (Language) Layer

Syst

em S

ervi

ces

Res

ou

rce

A

cces

s Se

rvic

es

Physical Resources

Ap

plic

atio

ns Programming

Language Interface roscpp (C++) rospy (Python) roslisp (LISP) Others….

RTK Library ROS Core ROS Controls ROS Perception Others….

Core ROS Services rosservice roslaunch rosparamrosbag Others….

Software Interface to Autonomy Hardware

Drivers to Autonomy Systems / Computing

Interoperability Profile (IOP) Hardware / Software Interfaces

Robotic Behavior Applications (GMSA) Path Planner World Model Localization Vehicle Mgmt Others….

• The AGVRA software architecture is constructed to enable a modular approach to upgrade and acquire autonomous system behaviors for military ground systems.

• The AGVRA bases military autonomous software on the world largest open-source framework and development community to maximize opportunities for innovation across industry, academia and the government.

Approach focuses on:

Maximizing code reuse to minimize cost and speed development,

Government owned SW interfaces to enable competition

Common SW baseline enables use of simulation environment to speed safety certification of platform modifications.


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Specifies the base concepts, architecture, requirements, and overview for the UGV IOP; specifically the platform, payload, mobility, on-vehicle network, communication, and logical interoperability messaging requirements.

Specifies the manner in which the SAE AS-4 JAUS standards have been profiledSpecifies additional SAE AS-4 JAUS messages & transport protocols required to support the scope of the UGV IOP

Scopes and bounds the requirements basis for a given IOP Version

Individual annexes specify the standards, requirements, and conformance approach for their subsystem

Current IOP 2.0 Framework

UGV Interoperability Profile (IOP)

Capabilities already fielded MTRS Inc II, CRS-I RCIS, HMDS

v3 planned for FY17

Future versions to follow to expand IOP to keep up

with emerging requirements and

technology developments

PEO CS&CSS funds TARDEC to maintain and develop their IOP which defines software messaging & hardware interfaces between major subsystems of unmanned ground systems utilizing existing standards.

• Specified in contract language for all unmanned ground systems acquisition programs

UGV IOP links autonomy portion of UGV to Mission Essential Subsystems

Exem

pla

r ca

pab

iliti

es li

sted


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Summary

• Army RAS Strategy Overview

• MUM-T Definition

• Recent Dismounted Experimentation

• Congested Urban Environment Vignette

• Architecture Approach


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Questions/Discussion


16

Backup


LOE 1: Envision the Future

• Validate potential formational constructs through soldier in the loop simulation via

Early Synthetic Prototyping (ESP) and User Wargaming

• Explore different platforms/employment: purpose built/applique/optionally manned, lethality/survivability/mobility mix, levels of supervision and degraded comms effects

• Leverage Soldier Innovation Workshops to generate new concepts from Soldiers

• Generate future CONOPS and requirements documents

Soldier Innovation Workshops

Early Synthetic Prototyping

User Wargaming

System Concepting / Design Trades

Envision the FutureRAS is not like integrating a better rifle into the

platoon… it has the potential to change the formation itself and the character of future warfare

Enabling the user to explore RAS concepts in the M&S domain will enable better assessment of robotic and formational constructs that will feed into S&T developmental needs

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Requirements Generation

DRAFTRASICD


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LOE 3: Sustain Integrated Campaign of Learning

Sustain Integrated Campaign of Learning

Successful implementation of RAS will not predominantly be a hardware race… whose robot shoots farther or better… to make these platforms

truly members of the combined arms team will require user experimentation to refine/guide S&T

developmental paths and enable the user to employ innovative CONOPS• Work with TRADOC Centers of Excellence to

deliberately conduct operational experiments with RAS platforms to embed the User Community in the technology development process.

• Determine the utility of RAS platforms through relevant operational assessment to both drive future CONOPS/TTPs/Requirements as well as feedback information to RAS technology development (Gaps/Use Cases)

• Leverage RAS ICDT management structure to layout battle rhythm of M&S through COE Battle Labs coupled with hardware experimentation

Near-term User Engagements:Joint Ground Robotics Integration Team (JGRIT) 15 NOV 2016

RAS Integrated Concept Development Team (ICDT) Kick Off Meeting 28 NOV 2016

Robotics Community of Practice (COP) Meeting 21-22 NOV 2016

JGRIT / Robotics COP 21-23 FEB 2017

RAS Implementation Plan Review w/ MRD 18 Jan 2017

Extended Warfighter Experiment JAN-JUN 2017

R2V2 Experiment JUN 2017

ALE/Wingman Experiment SEP 2017

FY18Oct Jan Apr Jul OctFY17

Joint Material / Combat Developer ForumArmy Material / Combat Developer, S&T, Test Community ForumMUM-T User Experiment 2016 ASB Study


Robotic Operating System (ROS)

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Phase I: Concept Exploration

Phase II: Concept Definition

Phase III: Detailed Implementation Planning

& Execution

• Refined Concept Definition Report• Community of Interest for ROS-M

Development• Technical Implementation Suggestions• ROS-M Business considerations

• Alpha ROS-M Security Features• Alpha ROS-M Repo & Registry • Initial ROS-M Components• Prototype Demonstration

• Determine scope of project• Identify potential programmatic

and technical issues• Identify potential business models

Future Development:

Further Refinement & Development

Complete Complete Funded

Phase III Partners:

ROS 2.0

ROS-SE

ROS-M Core

ROS-SE is DARPA project securing ROS 2.0

ROS 2.0 in pre-release, improves upon ROS

• ROS-M to be built upon ROS-SE, cover additional STIG/IA/Military Specific requirements

• DOE would like to participate and cost share

ROS-M Core• ROS is a collection of software frameworks for robot software development providing operating system-like functionality on a node-cluster format

• ROS is open source and used by the majority of robotics developers in industry and academia

• The Army is adapting ROS to be the baseline software development framework for future autonomous behaviors by creating ROS-Military (ROS-M) for military specific applications

• ROS 2.0 (Final) will add Real Time Operating System (RTOS) capability to ROS.

ROS-M Development Phases


Remote Reconnaissance Vehicle Version 2 (R2V2)

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Polaris MRZR Flat Deck Unmanned Ground Vehicle (UGV) with Hoverfly tethered UAS - Teleoperation UGV

Hatch folds forward for optionally manned

capability

Tethered UAS launch/landing area

with netting for lateral stability

during movements

Sensor suite out of manned driver view and T-UAS

landing area


Wingman Safety Certification Spiral

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Proposed Wingman JCTD

RDTE 6.4

- Military User Assessment of maneuver operations with soldiers at NTC/JRTC

- First safety-released weaponized, semi-autonomous UGV through ATEC

- Improved autonomous behaviors and weapon control systems

- First unmanned system certified on Army gunnery course.

- Company size MUM-T unit for Military User Assessment

- Technical data package for autonomous detecting and tracking targets / Wingman autonomous behaviors/RWS gov’t owned(data rights)

- Safety release particulars for weaponized tracked unmanned systems through ATEC

Safety Certification for Light Machine Gun (7.62 mm) + Ackermann Steering (Wheeled Vehicle)

Safety Certification for Heavy Machine Gun (0.50 Cal) + Pivot Steering (Tracked Vehicle)

- CONOPS and TTPs for armed manned-unmanned teaming

- Military User Assessment of maneuver operations with soldiers at NTC/JRTC

- Technical data package for autonomous detecting and tracking targets / Wingman autonomous behaviors/RWS gov’t owned (data rights)

- Safety release particulars for weaponized unmanned systems through ATEC

Target Acquisition and Tracking Warfighter in the Loop (WIL) Automated TargetingWide FOV Target Detection Self Correcting Fire control

Target Acquisition and Tracking WIL Automated Targeting Wide FOV Target Detection Self Correcting Fire control

(Final Scope/Platform under Review)


Urban UnitDistribution

Aerial Distribution

Aerial Distribution

BSA

Multi Modal Distribution Company (MMD)Combined Logistics Staging Area

Observation Post

Ground Distribution

Semi-Autonomous Elements

UAS for SA/Comms Relay

Obtaining Assured Sustainment: Multi-Modal Approach


Enabling MUM-T within Army Formations - DARPA · Enabling MUM-T within Army Formations ......

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