Modelling and Simulation for Autonomous Systems: Revised Selected Papers of the 7th International Conference, MESAS 2020, Prague, Czech Republic, October 21, 2020

Description

This book constitutes the thoroughly refereed post-conference proceedings of the 7th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2020, held in Prague, Czech Republic, in October 2020 (the conference was held virtually). The 19 full papers included in the volume were carefully reviewed and selected from 26 submissions. They are organized in the following topical sections: future challenges of advanced M&S technology; M&S of intelligent systems – R&D and application; and AxS/AI in context of future warfare and security environment. Preface MESAS 2020 Organizer Organization Contents Future Challenges of Advanced M&S Technology Quantum Computing Based on Quantum Bit Algebra QBA 1 Introduction 2 Geometric Algebra 3 Geometric Algebra G3 4 Quantum Gates 5 QBA 6 Lie Algebra of QBA Bivectors 7 Hyperbolic Qubits 8 GAALOPWeb for Qubits 9 The Example of the Basic Quantum Gate NOT 10 Conclusions References On Building Communication Maps in Subterranean Environments 1 Introduction 2 Related Work 3 Proposed Communication Map Model 3.1 Gaussian Process 3.2 Descriptor Functions in GP-based Communication Map 4 Results 5 Conclusion References Combat UGV Support of Company Task Force Operations 1 Literature Review 2 Requirements for Company Combat UGVs 2.1 Other Manners of the Combat UGV Group Utilization 3 The MCS CZ Multiple Maneuver Route Planning 4 Case Studies of the Combat Use of the Company Task Force UGV Group 4.1 Setting Speed of the MCS CZ in Tactical Situations 5 Conclusion References M&S Driven Experimentation for Concept Development on Combined Manned and Unmanned Vehicles in Urban Environment: Simulation Design 1 Introduction 2 Problem Formulation–Study Objectives 3 Methodology 4 Results 4.1 Development of Scenario 4.2 Development of the Conceptual Model 4.3 Develop Simulation Environment Requirements 5 Conclusion References UAV Based Vehicle Detection with Synthetic Training: Identification of Performance Factors Using Image Descriptors and Machine Learning 1 Introduction 2 Object of Research 3 State of the Art: Datasets, Image Descriptors, Classifiers 3.1 Datasets for Image Pair Generation and UAV Vehicle Detection 3.2 Image Descriptors as Classification Features 3.3 Classification Algorithms 3.4 Feature Selection Methods 3.5 Feature Importance Methods 4 Statistical Evaluation Based on a Classification Chain 5 Evaluation and Results 5.1 Classification of Real and Synthetic Image Pairs 5.2 Classification of Independent Real and Synthetic Training and Test Data 5.3 Classification of Correct and Incorrect Bounding Boxes 6 Conclusion and Future Work References Combining Epidemiological and Constructive Simulations for Robotics and Autonomous Systems Supporting Logistic Supply in Infectious Diseases Affected Areas 1 Introduction 1.1 COVID-19 Pandemic: The Rise of the Biological Threat 1.2 Aim and Purpose of the Paper 2 Creating a Spatiotemporal Epidemiological Scenario 2.1 The Spatiotemporal Epidemiological Modeler (STEM) 2.2 The STEM Scenario 3 RAS Addressing Operational Problems 4 Creating a MASA SWORD Scenario 4.1 The MASA SWORD Constructive Simulation 4.2 Environment Model 4.3 Unmanned Ground Vehicle (UGV) Behaviour Model 4.4 The SWORD Scenario 4.5 SWORD Database Implementation 5 Doctrine and COA Analysis with SWORD 5.1 Analysis of Courses of Action 1 and 2 5.2 Doctrine Analysis 6 Conclusions References M&S of Intelligent Systems - R&D and Application Numerical Experiment on Optimal Control for the Dubins Car Model 1 Introduction 2 Differential Kinematics of the Mechanism 3 Lie Algebra of the System 4 Optimal Control of the System 5 Optimal Control on Nilpotent Lie Algebra 6 Symmetries 7 Numerical Simulations 8 Conclusion References M&S Based Testbed to Support V&V of Autonomous Resources Task Coordinator 1 Introduction 2 Simulation Environment 2.1 Platforms 2.2 Sensors 2.3 Environment 2.4 Autonomous Resource Task Coordinator Integration 3 Scenario 4 Results 4.1 Simulators Verification and Validation 4.2 Experimental Set up for the ARTC 4.3 Discussion of the Results 5 Conclusions and Way Ahead References Replacement Possibilities of the Medium-Size Truck Transport Capability by UAVs in the Disturbed Logistics Infrastructure 1 Introductory Characteristics 2 Possible Scenario of Humanitarian Distribution Logistics 3 Research Goal, Methodology and Limitations 4 Computing Model Creation and Its Modifications 5 Conclusions References Experimental Leg Inverse Dynamics Learning of Multi-legged Walking Robot 1 Introduction 2 Problem Statement 2.1 Leg Inverse Dynamics Model 2.2 Hexapod Robot Locomotion Controller 3 Learning-Based Inverse Dynamics Models 4 Experimental Evaluation 5 Conclusion References Multi-UAV Mission Efficiency: First Results in an Agent-Based Simulation 1 Introduction 2 Concept 2.1 AHP-Based Metric Derivation 2.2 From Measurement to Metric 2.3 Aggregation of Results 2.4 Analysis 3 Experiments in a Simulation Environment 3.1 Goal 3.2 Scenario and System of Systems 3.3 Simulation Design 4 First Results 5 Discussion 6 Conclusion and Future Research References The GRASP Metaheuristic for the Electric Vehicle Routing Problem 1 Introduction 1.1 Related Works 2 Methods 2.1 Problem Formulation 2.2 GRASP Metaheuristic 2.3 Construction 2.4 Local Search 3 Results and Discussion 3.1 Dataset Description 3.2 Parameters Tuning 3.3 Final Results 4 Conclusion References Stereo Camera Simulation in Blender 1 Introduction 2 State of the Art 2.1 Blender and Other Simulation Tools 2.2 Pinhole Camera 2.3 April Camera Calibration 2.4 Camera Simulation in Blender 3 Stereo Camera Simulation System 3.1 3D Model 3.2 Stereo Camera Simulation 3.3 Capturing Software 4 Experiments 4.1 Synthetic Data 4.2 Data Evaluation 4.3 Testing of 3D Reconstruction System 5 Conclusions References Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios 1 Introduction 2 Related Work 3 Evaluation Method for Localization Systems 4 Results 4.1 Localization Error 4.2 Remarks on Practical Usage of the Intel RealSense Cameras 5 Conclusion References AxS/AI in Context of Future Warfare and Security Environment Model of Surveillance in Complex Environment Using a Swarm of Unmanned Aerial Vehicles 1 Introduction 2 Problem Formulation 2.1 Model of Aerial Surveillance 2.2 Model of Aerial Surveillance with Simultaneous Detection 3 Solution Algorithms 3.1 Evaluation of a Solution 3.2 Deployment of Waypoints 4 Experiments and Results 4.1 Benchmark Surveillance Operations 4.2 Simulation Results 4.3 Analysis and Discussion 5 Conclusions References Initial Solution Constructors for Capacitated Green Vehicle Routing Problem 1 Introduction 2 Related Work 3 Problem Definition 4 Selected Methods 4.1 Initial TSP Constructions 4.2 CGVRP Tour Repair Procedures 5 Results and Discussion 5.1 Experiment Setup and Parameters 5.2 Initial Construction Comparison 6 Conclusions References Artificial Intelligence in the Defence Sector 1 Excursus 2 Strategic Approach to Military and Defence AI 3 Strategic Importance of AI 4 Future Developments 5 Conclusion References Artificial Intelligence and Robotics Addressing COVID-19 Pandemic’s Challenges 1 Introduction 1.1 Background and Identification of the Problem 1.2 Aim, Purpose and Methodology 2 New Technologies in Support of the Fight Against COVID-19 3 Artificial Intelligence, Drones and Robots 4 Lessons from the Pandemic for the Post-pandemic World 5 Ethics, Bias and Privacy 6 Linking AI and Robotics with the HDP Nexus 7 Conclusions References ORB-SLAM2 Based Teach-and-Repeat System 1 Introduction 2 State of the Art 2.1 ORB-SLAM2 2.2 Teach-and-Repeat 2.3 SSM-Nav 3 Teach-and-Repeat Method 4 Experiments 4.1 Hardware and System Implementation 4.2 Tests of Systems 5 Conclusions References Author Index