Modelling and simulation for autonomous systems : 9th International Conference, MESAS 2022, Prague, Czech Republic, October 20-21, 2022 : revised Selected Papers

This book constitutes the thoroughly refereed post-conference proceedings of the 9th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2022, held MESAS 2022, Prague, Czech Republic, October 2022. The 21 full papers included in the volume were carefully reviewed and selected from 24 submissions. They are organized in the following topical sections: Modelling, Simulation Technology, methodologies and Robotics. Preface MESAS 2022 Organizer Organization Contents M&S of Intelligent Systems – R&D and Application Performance Comparison of Visual Teach and Repeat Systems for Mobile Robots 1 Introduction 1.1 Contribution 2 Teach and Repeat Methods Evaluated in This Work 2.1 Bearnav-Based Methods 2.2 Fast and Robust Bio-inspired Teach and Repeat 2.3 Autowalk 2.4 Hardware 2.5 Software Setup and Configuration 2.6 Testing Environments 2.7 Experimental Setup for Autowalk 3 Results 3.1 Path Following 3.2 Autowalk 3.3 Computational Performance 3.4 Additional Information/Features 3.5 Discussion 4 Conclusion References Hellinger Metrics for Validating High Fidelity Simulators Using Target Tracking 1 Introduction 2 Finite-Set Statistics (FISST) for Metric Constructions 2.1 Random Finite Sets 2.2 Multi-object Density Functions (MDF) 2.3 Csiszár Information Functionals 3 Hellinger Performance Metrics 3.1 Hellinger Distance for Gaussian Distributions 3.2 Bernoulli Hellinger Distance for Gaussian Distributions 3.3 MB-Hellinger Distance for Gaussian Distributions 4 JIPDA Tracker 4.1 Lidar Detection Pipeline 4.2 Tracker Outline 5 Datasets 5.1 Setup 5.2 Ground Truth Recording 5.3 Scenarios 5.4 Lidar 6 Evaluation 6.1 Track Association 6.2 False Tracks 6.3 Bernoulli Hellinger a Special Case of MB-Hellinger 7 Discussion 8 Conclusion References A Metaheuristic Approach for Inspection and Reconnaissance of Organized Areas 1 Introduction 2 Related Works 3 RPP-DC Problem Formulation 3.1 Surveillance 3.2 Inspection 4 Proposed Solvers 4.1 Constructive Heuristics 4.2 Optimization-Based Metaheuristics 5 Experimental Analysis 5.1 Instances 5.2 Internal Parameters 5.3 Performance 6 Conclusion References Simulation of Autonomous Robotic System for Intelligence and Reconnaissance Operations 1 Introduction 2 Materials and Methods 2.1 Gazebo 2.2 Simulation Scenario 3 Results 4 Discussion and Conclusion References Autonomous Navigation for the Movement of the Robot in the Tube 1 Introduction 2 Problem Statement 3 Approach to the Solution 3.1 Tube Generation 3.2 Pixels Selection 3.3 Tube Axis Recovery 3.4 Transformation in C# 4 Conclusion References Towards Modularity: Integration Strategy of Radar into a LiDAR Based Robotics Mapping Platform 1 Introduction 1.1 Motivation 1.2 Project Background and Rationale 1.3 State of the Art 1.4 Primary Contributions 1.5 Paper Organization 2 LaPaSHD Workflow and Organization 2.1 Overview 2.2 Software Practices 2.3 System Hardware and Requirements 3 Case Study 3.1 Case Study Introduction 3.2 Case Study Background 3.3 Case Study Problem Space 3.4 Simulation Design 3.5 Results 4 Implementation Challenges Discussion 4.1 Broken Source Code 4.2 Model Accuracy 4.3 Package Independence and Co-mingling 4.4 Documentation 5 Recommended Best Practices for Robotic Platform Modularity 6 Summary and Conclusion References Blast-Induced Deformations of the Building Entrance Part Caused by Improvised Shaped Charges 1 Introduction 1.1 Motivation 1.2 Contribution and Organization of the Article 2 Literature Review 3 Problem Formulation and Solution 3.1 Types of Charges and a Demolished Element 3.2 Modelling the Effect of an Improvised Shaped Charge 4 Experiment and Results 4.1 Performing an Experiment 4.2 Experiment Results 5 Discussion 6 Conclusions References Improving Procedural Hexapod Locomotion Generation with Neural Network Decision Modules 1 Introduction 2 Related Work 3 Locomotion Generation 4 Hexapod Environment Overview 5 Algorithm Structure 5.1 Observations and Control Inputs 5.2 Movement Generation Module 5.3 Precomputed Gait Parameters 6 Experiments 7 Discussion and Conclusion References Artificial Intelligence Support to the Paradigm Shift from Reactive to Anticipatory Action in Humanitarian Responses 1 Background 1.1 Climate and (in)security 1.2 Catching the Black Swan 1.3 Methodology 2 Anticipatory Action 2.1 Robotics Supporting Humanitarian Action 2.2 Medical and Security Threats Analysis 2.3 AI Supported Simulation 2.4 SYNERGY Decisional Process 3 Scenario Exercise and Outcomes 3.1 Ethical Considerations 4 Conclusions References Towards a Digital Twin Architecture with Formal Analysis Capabilities for Learning-Enabled Autonomous Systems 1 Introduction 2 Background 2.1 Languages and Standards 2.2 Tools 3 Compositional Architecture for Digital Twins of Autonomous Systems 4 Integration of BIP Formal Models with LECs and Runtime Verification 4.1 BIP Extension for LECs 4.2 Integration of BIP Models 4.3 Runtime Verification 5 Application Examples 5.1 Simcenter Prescan Experiment 5.2 BIP Model and Gateway 5.3 Implementation and Execution 5.4 Scenario Generation and Testing 5.5 Runtime Verification 6 Conclusion and Outlook References Airborne Sensor and Perception Management 1 Introduction and Object of Research 2 Methodology 2.1 Chain Performance Modelling with Bayesian Networks 2.2 Chain Management and Winner-Chain Selection 3 Evaluation Concept and Experimental Setup 3.1 Mission Scenario and Flight Planning 3.2 Airframe and Mission-Payload 3.3 Implementation and Training of Chains 4 Results and Evaluation 4.1 Performance Analysis of Specialized Chains 4.2 SPMS-Performance Within the Surveillance Scenario 5 Conclusion References AxS/AI in Context of Future Warfare and Security Environment Swarm Maneuver of Combat UGVs on the Future Digital Battlefield 1 Introduction 2 Literature Review 3 The Tactical Situations of the Combat Use of the UGV Swarm 4 The Offensive Maneuvers of MCS CZ 4.1 The Swarm Offensive Maneuvers of MCS CZ 4.2 The Swarm Offensive Maneuver Models of MCS CZ 5 Case Studies of the Combat Use of the UGV Group 5.1 Case Study 1 5.2 Case Study 2 5.3 Case Study 3 6 Conclusion References Cooperative Use of Autonomous Systems to Monitor Toxic Industrial Materials and Face Accidents & Contamination Crises 1 Introduction 2 State of the Art 3 The Problem and Innovative Solutions 4 Alacres 2 and the Scenario 4.1 Experimentation 5 Conclusions References Unmanned Surface Vehicle Chase a Moving Target Remotely Controlled 1 Introduction 2 Simulation Platform 2.1 Ship Model 2.2 Speed Pilot and Autopilot 2.3 Guidance 3 Human-in-the-loop Architecture 4 Simulation Results 5 Conclusion References Aerial Target System Design for Effective Air Defence Training 1 Introduction and Main Goal 1.1 State of Art 1.2 Main Goal 2 Aerial Target System Requirements Analysis 2.1 GBAD Units Training Type 2.2 Technical and Principal Aspects of GBAD System 2.3 Possible and Effective Implementation to UAS 2.4 ATS Requirements Example 3 ATS Control System Design and Comparison 3.1 Commercial Autopilots Analysis and Comparison 3.2 System Design 4 System Design Verification 4.1 Scenario Design 4.2 Simulation Results 5 Conclusion 5.1 Way Ahead References Future Challenges of Advanced M&S Technology Modelling and Simulation and Artificial Intelligence for Strategic Political-Military Decision-Making Process: Case Study 1 Introduction 1.1 Strategic Political-Military Decision-Making Process 1.2 M&S and AI 2 Role of AI and M&S in SPMDMP 2.1 What is Happening? 2.2 Why it is Happening and What are the Implications? 2.3 What are Our Options? 3 AI and M&S Use Case for SPMDMP 3.1 JANES Database 3.2 Global Firepower Ranking 3.3 Neural Network (NN) Setup 3.4 Test Results 3.5 Use Case Scenario 4 Conclusion References Modular Interface Framework for Advanced Soldier-Platform Interoperability 1 Introduction 1.1 The Problem Space 1.2 Paper Outline 2 Project Background and Rational 2.1 Requirements 2.2 System Hardware 2.3 System Software 3 State of the Art 4 Design and Results 4.1 Architecture 4.2 System Back-End 4.3 System Front-End 4.4 Evaluation 5 Conclusions and Future Works References Modelling the Impact of Space Situational Awareness Disruption on the European and Arctic Security Landscape 1 Introduction 2 Approach 3 Space Situational Awareness Overview 3.1 Main Non-private SSA Networks 4 The European and Arctic Security Landscape 5 Terminology: Critical Infrastructure 6 The External Threat 6.1 A Subsection Sample 6.2 First Use Case: Temporary Blinding Orbit Monitoring 6.3 Second Use Case: Data Interception and Corruption 7 Discussion 8 Conclusion References Simulation: The Great Enabler? 1 Introduction 2 Related Work 2.1 Synthetic Data for ML 2.2 Fractals and Data Augmentation 2.3 Safe and Secure AI 3 Method 3.1 Modular Training Pipeline 3.2 Evaluation Protocol 4 Experimental Setup 5 Results and Discussion 6 Conclusion References Growing an Explanation of Health Inequities in Norfolk, VA with an Agent-Based Model 1 Introduction 2 Background and Related Research 2.1 The Importance of Addressing Health Inequities 2.2 Geographic Information Systems 2.3 Related Research 3 The Model 3.1 Initialization 3.2 Agent-Based Model Implementation and Execution 4 Evaluation 4.1 Analysis 4.2 Discussion of Principal Findings 5 Conclusion References Author Index