Optimal pilot decisions and flight trajectories in air combat

The thesis concerns the analysis and synthesis of pilot decision-making and the design of optimal flight trajectories. In the synthesis framework, the methodology of influence diagrams is applied for modeling and simulating the maneuvering decision process of the pilot in one-on-one air combat. The influence diagram representations describing the maneuvering decision in a one sided optimization setting and in a game setting are constructed. The synthesis of team decision-making in a multiplayer air combat is tackled by formulating a decision theoretical information prioritization approach based on a value function and interval analysis. It gives the team optimal sequence of tactical data that is transmitted between cooperating air units for improving the situation awareness of the friendly pilots in the best possible way. In the optimal trajectory planning framework, an approach towards the interactive automated solution of deterministic aircraft trajectory optimization problems is presented. It offers design principles for a trajectory optimization software that can be operated automatically by a nonexpert user. In addition, the representation of preferences and uncertainties in trajectory optimization is considered by developing a multistage influence diagram that describes a series of the maneuvering decisions in a one-on-one air combat setting. This influence diagram representation as well as the synthesis elaborations provide seminal ways to treat uncertainties in air combat modeling. The work on influence diagrams can also be seen as the extension of the methodology to dynamically evolving decision situations involving possibly multiple actors with conflicting objectives. From the practical point of view, all the synthesis models can be utilized in decision-making systems of air combat simulators. The information prioritization approach can also be implemented in an onboard data link system.reviewe

Collaborative Verification-Driven Engineering of Hybrid Systems

Hybrid systems with both discrete and continuous dynamics are an important model for real-world cyber-physical systems. The key challenge is to ensure their correct functioning w.r.t. safety requirements. Promising techniques to ensure safety seem to be model-driven engineering to develop hybrid systems in a well-defined and traceable manner, and formal verification to prove their correctness. Their combination forms the vision of verification-driven engineering. Often, hybrid systems are rather complex in that they require expertise from many domains (e.g., robotics, control systems, computer science, software engineering, and mechanical engineering). Moreover, despite the remarkable progress in automating formal verification of hybrid systems, the construction of proofs of complex systems often requires nontrivial human guidance, since hybrid systems verification tools solve undecidable problems. It is, thus, not uncommon for development and verification teams to consist of many players with diverse expertise. This paper introduces a verification-driven engineering toolset that extends our previous work on hybrid and arithmetic verification with tools for (i) graphical (UML) and textual modeling of hybrid systems, (ii) exchanging and comparing models and proofs, and (iii) managing verification tasks. This toolset makes it easier to tackle large-scale verification tasks

Simulation in Automated Guided Vehicle System Design

The intense global competition that manufacturing companies face today results in an increase of product variety and shorter product life cycles. One response to this threat is agile manufacturing concepts. This requires materials handling systems that are agile and capable of reconfiguration. As competition in the world marketplace becomes increasingly customer-driven, manufacturing environments must be highly reconfigurable and responsive to accommodate product and process changes, with rigid, static automation systems giving way to more flexible types. Automated Guided Vehicle Systems (AGVS) have such capabilities and AGV functionality has been developed to improve flexibility and diminish the traditional disadvantages of AGV-systems. The AGV-system design is however a multi-faceted problem with a large number of design factors of which many are correlating and interdependent. Available methods and techniques exhibit problems in supporting the whole design process. A research review of the work reported on AGVS development in combination with simulation revealed that of 39 papers only four were industrially related. Most work was on the conceptual design phase, but little has been reported on the detailed simulation of AGVS. Semi-autonomous vehicles (SA V) are an innovative concept to overcome the problems of inflexible -systems and to improve materials handling functionality. The SA V concept introduces a higher degree of autonomy in industrial AGV -systems with the man-in-the-Ioop. The introduction of autonomy in industrial applications is approached by explicitly controlling the level of autonomy at different occasions. The SA V s are easy to program and easily reconfigurable regarding navigation systems and material handling equipment. Novel approaches to materials handling like the SA V -concept place new requirements on the AGVS development and the use of simulation as a part of the process. Traditional AGV -system simulation approaches do not fully meet these requirements and the improved functionality of AGVs is not used to its full power. There is a considerflble potential in shortening the AGV -system design-cycle, and thus the manufacturing system design-cycle, and still achieve more accurate solutions well suited for MRS tasks. Recent developments in simulation tools for manufacturing have improved production engineering development and the tools are being adopted more widely in industry. For the development of AGV -systems this has not fully been exploited. Previous research has focused on the conceptual part of the design process and many simulation approaches to AGV -system design lack in validity. In this thesis a methodology is proposed for the structured development of AGV -systems using simulation. Elements of this methodology address the development of novel functionality. The objective of the first research case of this research study was to identify factors for industrial AGV -system simulation. The second research case focuses on simulation in the design of Semi-autonomous vehicles, and the third case evaluates a simulation based design framework. This research study has advanced development by offering a framework for developing testing and evaluating AGV -systems, based on concurrent development using a virtual environment. The ability to exploit unique or novel features of AGVs based on a virtual environment improves the potential of AGV-systems considerably.University of Skovde. European Commission for funding the INCO/COPERNICUS Projec

An Agent-Based Approach to Self-Organized Production

The chapter describes the modeling of a material handling system with the production of individual units in a scheduled order. The units represent the agents in the model and are transported in the system which is abstracted as a directed graph. Since the hindrances of units on their path to the destination can lead to inefficiencies in the production, the blockages of units are to be reduced. Therefore, the units operate in the system by means of local interactions in the conveying elements and indirect interactions based on a measure of possible hindrances. If most of the units behave cooperatively ("socially"), the blockings in the system are reduced. A simulation based on the model shows the collective behavior of the units in the system. The transport processes in the simulation can be compared with the processes in a real plant, which gives conclusions about the consequencies for the production based on the superordinate planning.Comment: For related work see http://www.soms.ethz.c

Iterative Online Planning in Multiagent Settings with Limited Model Spaces and PAC Guarantees

Methods for planning in multiagent settings often model other agents ’ possible behaviors. However, the space of these models – whether these are policy trees, finite-state controllers or inten-tional models – is very large and thus arbitrarily bounded. This may exclude the true model or the optimal model. In this paper, we present a novel iterative algorithm for online planning that consid-ers a limited model space, updates it dynamically using data from interactions, and provides a provable and probabilistic bound on the approximation error. We ground this approach in the context of graphical models for planning in partially observable multiagent settings – interactive dynamic influence diagrams. We empirically demonstrate that the limited model space facilitates fast solutions and that the true model often enters the limited model space

Developing Executable Digital Models with Model-Based Systems Engineering – An Unmanned Aerial Vehicle Surveillance Scenario Example

There is an increase in complexity in modern systems that causes inconsistencies in the iterative exchange loops of the system design process and in turn, demands greater quality of system organization and optimization techniques. A recent transition from document-centric systems engineering to Model-Based Systems Engineering (MBSE) is being documented in literature from various industries to address these issues. This study aims to investigate how MBSE can be used as a starting point in developing digital twins (DT). Specifically, the adoption of MBSE for realizing DT has been investigated, resulting in various literature reviews that indicate the most prevalent methodologies and tools used to enhance and validate existing and future systems. An MBSE-enabled template for virtual model development was executed for the creation of executable models, which can serve as a research testbed for DT and system and system-of-systems optimization. This study explores the feasibility of this MBSE-enabled template by creating and simulating a surveillance system that monitors and reports on the health status and performance of an armored fighting vehicle via an Unmanned Aerial Vehicle (UAV). The objective of this template is to demonstrate how executable SysML diagrams are used to establish a collaborative working environment between multiple platforms to better convey system behavior, modifications, and analytics for various system stakeholders

Terrain Representation And Reasoning In Computer Generated Forces : A Survey Of Computer Generated Forces Systems And How They Represent And Reason About Terrain

Report on a survey of computer systems used to produce realistic or intelligent behavior by autonomous entities in simulation systems. In particular, it is concerned with the data structures used by computer generated forces systems to represent terrain and the algorithmic approaches used by those systems to reason about terrain