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Reference Model for Interoperability of Autonomous Systems

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Reference Model for Interoperability of Autonomous Systems Mário Rui Monteiro Marques Master of Science in Electrical Engineering [Nome completo do autor] [Habilitações Académicas] [Nome completo do autor] [Habilitações Académicas] Reference Model for Interoperability of Autonomous [Nome completo do autor] [Habilitações Académicas] Systems Dissertação para obtenção do Grau de Doutor em [Título da EngenhariaTese] Eletrotécnica e de Computadores [Nome completo do autor] Orientador: Fernando Coito, [Habilitações Académicas] Prof. Associado, Dissertação para obtençãoUniversidade do Grau de Mestre Nova de em Lisboa [Engenharia Informática] [Nome completoCo-orientador do autor]: Victor Lobo, [Habilitações Académicas]Prof. Catedrático, Escola Naval Júri: [Nome completo do autor] Presidente: Prof. Doutor Jorge Teixeira, FCT-UNL [Habilitações Académicas] Arguentes: Prof. Doutor José Victor, IST Prof. Doutor António Serralheiro, AM [Nome completo do autor] Vogais: Prof. Doutor Jorge Lobo, UC [Habilitações Académicas] Prof. Doutor Aníbal Matos, FEUP Prof. Doutor José Oliveira, FCT-UNL Prof. Doutor Fernando Coito, FCT-UNL Dezembro, 2018 Reference Model for Interoperability of Autonomous Systems Copyright © Mário Rui Monteiro Marques, Faculdade de Ciências e Tecnologia, Universidade Nova de Lisboa. The Faculdade de Ciências e Tecnologia and the Universidade NOVA de Lisboa have the right, perpetual and without geographical boundaries, to file and pub- lish this dissertation through printed copies reproduced on paper or on digital form, or by any other means known or that may be invented, and to disseminate through scientific repositories and admit its copying and distribution for non- commercial, educational or research purposes, as long as credit is given to the author and editor. To Ana, Martim e Mariana for their love and full support Acknowledgements Firstly, I would like to thank my supervisor, Professor Fernando Coito, and co-supervisor, Professor Victor Lobo for their guidance, patience and contribu- tion to the successful completion of this thesis work. My acknowledgments to the Portuguese Navy for giving me the oppor- tunity to be a PhD student and to FCT for hosting this research. My appreciation to the Professors and staff of the Naval Academy for their support. I would like to thank the constant support of my loving wife Ana and my son Martim and daughter Mariana, for their love, motivation, patience and un- derstanding that allowed me to finish this challenge. vii Resumo Esta tese propõe um modelo de referência para descrever os componentes de um Sistema Não-Tripulado Aéreo, de Superfície ou Subaquático (UxS) e o uso de um Sistema para Alcançar Interoperabilidade (IBB) para comandar, controlar e obter feedback de tais veículos. A importância e as vantagens de tal modelo de referência, com uma nomenclatura padrão e taxonomia, são mostradas. Analisa- mos os conceitos de interoperabilidade e alguns esforços para alcançar modelos de referência comuns em outras áreas. Em seguida, apresentamos uma visão ge- ral dos sistemas não-tripulados existentes, descrevendo a sua história, caracterís- ticas, classificação e missões. O conceito de Interoperability Building Blocks (IBB) é apresentado para descrever padrões, protocolos, modelos de dados e frameworks, e um grande conjunto deles é analisado. Um novo e poderoso modelo de refe- rência para o UxS, denominado RAMP, é proposto, que descreve os vários com- ponentes que um UxS pode ter. É um modelo hierárquico com quatro níveis, que descreve as componentes do veículo, a ligação de dados e o segmento terrestre. O modelo de referência é validado mostrando como ele pode ser aplicado e pode estruturar a descrição e o modo como os UxS são usados em vários projetos em que o autor trabalhou. Um exemplo é dado sobre como um único padrão foi ca- paz de controlar um conjunto heterogéneo de UAVs, USVs e UGVs. Keywords: Veículos Autónomos,Modelo de Referência,Interoperabilidade. ix Abstract This thesis proposes a reference model to describe the components of an Un- manned Air, Ground, Surface, or Underwater System (UxS), and the use of a single Interoperability Building Block to command, control, and get feedback from such vehicles. The importance and advantages of such a reference model, with a standard nomenclature and taxonomy, is shown. We overview the concepts of interoperability and some efforts to achieve common refer- ence models in other areas. We then present an overview of existing un- manned systems, their history, characteristics, classification, and missions. The concept of Interoperability Building Blocks (IBB) is introduced to describe standards, protocols, data models, and frameworks, and a large set of these are analyzed. A new and powerful reference model for UxS, named RAMP, is proposed, that describes the various components that a UxS may have. It is a hierarchical model with four levels, that describes the vehicle components, the datalink, and the ground segment. The reference model is validated by showing how it can be applied in various projects the author worked on. An example is given on how a single standard was capable of controlling a set of heterogeneous UAVs, USVs, and UGVs. Keywords: Unmanned Systems, Reference Model, Interoperability. xi Contents LIST OF FIGURES ................................................................................................... XVII LIST OF TABLES ....................................................................................................... XXI ACRONYMS ............................................................................................................ XXIII 1. INTRODUCTION ................................................................................................... 1 MOTIVATION ...................................................................................................... 1 RESEARCH QUESTION ........................................................................................ 3 RESEARCH METHOD .......................................................................................... 5 CONTRIBUTIONS OF THE THESIS ........................................................................ 6 THESIS STRUCTURE ............................................................................................ 8 2. BACKGROUND ...................................................................................................... 9 RELEVANT CONCEPTS ....................................................................................... 9 EXAMPLES OF ORGANIZATIONS AND PROCESSES INVOLVED IN INTEROPERABILITY ISSUES ..................................................................................................... 12 OSI ........................................................................................................... 13 ITIL .......................................................................................................... 15 OODA Loop ............................................................................................. 16 RELEVANT MILESTONES FOR UNMANNED SYSTEMS ..................................... 17 Unmanned Aerial Vehicles (UAV) .......................................................... 17 Unmanned Surface Vehicles (USVs) ....................................................... 25 Unmanned Ground Vehicles (UGVs) ...................................................... 30 Unmanned Underwater Vehicles (UUVs) ............................................... 35 CLASSIFICATION OF UNMANNED SYSTEMS.................................................... 40 Unmanned Aerial Vehicles (UAVs) ......................................................... 42 xiii Contents Unmanned Surface Vehicles (USVs) ........................................................ 45 Unmanned Ground Vehicles (UGVs) ...................................................... 47 Unmanned Underwater Vehicles (UUVs) ............................................... 50 Unmanned Hybrid Vehicles (UHVs) ....................................................... 51 MISSIONS .......................................................................................................... 52 Military Missions ..................................................................................... 52 Civilian Missions ..................................................................................... 56 3. INTEROPERABILITY BUILDING BLOCKS (IBB) ......................................... 59 MOST RELEVANT INTEROPERABILITY BUILDING BLOCKS ............................. 59 Standardization Agreement (STANAG) 4586: Standard Interfaces of UAV control systems (UCS) for NATO UAV interoperability......................................... 59 Joint Architecture for Unmanned Systems (JAUS) ................................. 64 Mission Oriented Operating Suit (MOOS) ............................................ 68 Compact Control Language (CompactCL) ............................................... 70 Common Control Language (CommonCL) .............................................. 72 Coupled Layered Architecture for Robotic Autonomy (CLARAty) ......... 75 European Component Oriented Architecture (ECOA) ............................ 77 Battle Management Language (BML) ..................................................... 79 Autonomous Vehicle Command Language (AVCL) ................................ 82 Multi-sensor Aerospace-ground Joint Intelligence surveillance and reconnaissance Interoperability Coalition (MAJIIC) ......................................................... 84 NATO Industrial Advisory Group (NIAG) Subgroup 157 (Study on Multi-Domain
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