Dynamic Composable Simulations for Robotic Behaviors

The primary objective for this work is to develop models and behaviors for entities within a simulation environment, specifically in the area of unmanned systems, with a user interface that allows for the creation of unique individual and team behaviorsfor insertion into a military and Homeland Defense simulation scenario. OneSAF (Semi-Automated Forces) Testbed environment will be used as a baseline to test and develop autonomous behaviors for robotic systems.Capabilities planned for development include the following:* Robotic behavior development, mission planning (process models) & status tracking (using configured process model instances) capabilities for use by trainees* Execution of complex team behaviors where teams are comprised of heterogeneous units (manually operated/driven equipment and tele-operated equipment, robotic vehicles, etc.)* Updating mission plans during exercises (in response to frag orders, re-direction to robotic teams, unreliable ground truth such as red forces not occupying expected positions, etc.)* Full interoperability with OneSAF DIS stations (mandatory) Benefits from this work include simulation-based development and training environments for future-generation robot systems. The following will be delivered at the conclusion of Phase I work on this project:* Training System Architecture/Design* Robotic Behavior Component Architecture/Design* Design for a Cooperative Agent Infrastructure* Toolset Mockup for Robotic Behavior Development* Documented Process Modeling Methodology for Robotic Behavior Development