TY - GEN
T1 - A simulation test bed for coordination of unmanned rotorcraft and ground vehicles
AU - Yasar, Murat
AU - Bridges, Derek O.
AU - Mallapragada, Goutham
AU - Horn, Joseph F.
PY - 2006
Y1 - 2006
N2 - This paper presents the development of a simulation test bed for a command, control, computer, communication, intelligence, surveillance and reconnaissance (C4ISR) system. The test bed features coordination of a rotorcraft unmanned aerial vehicle (RUAV) and multiple unmanned ground vehicles (UGVs) by integrating a high-fidelity rotorcraft model with actual ground-based robots that emulate UGVs. The RUAV component of the test bed is realized on a networked computer simulation, whereas networked robotics hardware is employed for the UGV representation. The RUAV dynamics run a high-fidelity nonlinear simulation model of a UH-60A Black Hawk helicopter. To emulate the dynamics of the UGVs, several networked Segway robots are employed. The proposed C4ISR system undertakes the task of mission management from the top level discrete-event supervision (DES) to the bottom level continuous-time regulation.
AB - This paper presents the development of a simulation test bed for a command, control, computer, communication, intelligence, surveillance and reconnaissance (C4ISR) system. The test bed features coordination of a rotorcraft unmanned aerial vehicle (RUAV) and multiple unmanned ground vehicles (UGVs) by integrating a high-fidelity rotorcraft model with actual ground-based robots that emulate UGVs. The RUAV component of the test bed is realized on a networked computer simulation, whereas networked robotics hardware is employed for the UGV representation. The RUAV dynamics run a high-fidelity nonlinear simulation model of a UH-60A Black Hawk helicopter. To emulate the dynamics of the UGVs, several networked Segway robots are employed. The proposed C4ISR system undertakes the task of mission management from the top level discrete-event supervision (DES) to the bottom level continuous-time regulation.
UR - https://www.scopus.com/pages/publications/33846507652
UR - https://www.scopus.com/pages/publications/33846507652#tab=citedBy
U2 - 10.2514/6.2006-6263
DO - 10.2514/6.2006-6263
M3 - Conference contribution
AN - SCOPUS:33846507652
SN - 1563478218
SN - 9781563478215
T3 - Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
SP - 400
EP - 412
BT - Collection of Technical Papers - AIAA Modeling and Simulation Technologies Conference, 2006
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Modeling and Simulation Conference, 2006
Y2 - 21 August 2006 through 24 August 2006
ER -