Jan Hodicky (Ed.) 6 0 9 Modelling and Simulation 8 S C for Autonomous Systems N L First International Workshop, MESAS 2014 Rome, Italy, May 5–6, 2014 Revised Selected Papers 123 Lecture Notes in Computer Science 8906 CommencedPublicationin1973 FoundingandFormerSeriesEditors: GerhardGoos,JurisHartmanis,andJanvanLeeuwen EditorialBoard DavidHutchison LancasterUniversity,UK TakeoKanade CarnegieMellonUniversity,Pittsburgh,PA,USA JosefKittler UniversityofSurrey,Guildford,UK JonM.Kleinberg CornellUniversity,Ithaca,NY,USA FriedemannMattern ETHZurich,Switzerland JohnC.Mitchell StanfordUniversity,CA,USA MoniNaor WeizmannInstituteofScience,Rehovot,Israel C.PanduRangan IndianInstituteofTechnology,Madras,India BernhardSteffen TUDortmundUniversity,Germany DemetriTerzopoulos UniversityofCalifornia,LosAngeles,CA,USA DougTygar UniversityofCalifornia,Berkeley,CA,USA GerhardWeikum MaxPlanckInstituteforInformatics,Saarbruecken,Germany Jan Hodicky (Ed.) Modelling and Simulation for Autonomous Systems First International Workshop, MESAS 2014 Rome, Italy, May 5-6, 2014 Revised Selected Papers 1 3 VolumeEditor JanHodicky NATOModellingandSimulationCentreofExcellence PiazzaVilloresi1,00143Rome,Italy E-mail:[email protected] ISSN0302-9743 e-ISSN1611-3349 ISBN978-3-319-13822-0 e-ISBN978-3-319-13823-7 DOI10.1007/978-3-319-13823-7 SpringerChamHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2014955627 LNCSSublibrary:SL3–InformationSystemsandApplication,incl.Internet/Web andHCI ©SpringerInternationalPublishingSwitzerland2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation, inistcurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Permissionsforuse maybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecution undertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforanyerrorsor omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothe materialcontainedherein. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface ThisvolumecontainsthepaperspresentedatMESASWorkshop2014:Modelling and Simulation for Autonomous Systems held on May 5–6, 2014 in Rome. MESAS2014wasatwo-dayworkshoporganizedbytheNATOModellingand SimulationCentreofExcellence.Theeventgatheredtogether,inplenarysessions and round tables, fully recognized experts from different technical communities in military, academia and industry. The aim of MESAS 2014was to explore the possible use of Modelling and Simulationto integratesystems with autonomous capabilities into operational scenarios and to support coalition interoperability. The community of interestsubmitted 50 papers for consideration.Eachsub- missionwasreviewedby3ProgramCommitteemembers.Thecommitteedecided to accept 46 papers to be presented during the workshop. The plenary session androundtable discussionsincludedanextra5 invitedpresentations.Following a thorough review process, only 32 papers were recommended to be included into these proceedings. September 2014 Jan Hodicky MESAS 2014 Program Committee General Chair Francesco Langella General Director of the Air Systems Procurement Agency, under the Italian National Armament Director, Italy Technical Chair Antonio Bicchi University of Pisa, Italy Marco Protti Alenia Aermacchi, Italy Members Gianluca Antonelli UniversityofCassinoandSouthernLazio,Italy Agostino Bruzzone DIME University of Genoa, Italy Wayne Buck NATO Allied Command Transformation, USA Andrea Caiti University of Pisa, Italy Alessandro Cignoni NATO Modelling and Simulation Centre of Excellence, Italy Andrea Cini ITA Navy Institute for Electronics & Telecommunications, Italy Andrea D’Ambrogio University of Rome Tor Vergata, Italy Emilio Frazzoli Laboratory for Information and Decision Systems, and the Operations Research Center at the Massachusetts Institute of Technology, USA Flavio Fusco Selex ES SpA, Italy Marco Garspardone Telecom Italia Research Center, Italy Jan Hodicky NATO Modelling and Simulation Centre of Excellence, Italy Pedro Jose Marron Universit¨at Duisburg-Essen, Germany Jan Mazal University of Defence in Brno, Czech Republic Lucia Pallottino Universita` di Pisa, Italy Libor Preucil Czech Technical University in Prague, Czech Republic Paolo Proietti MIMOS, Italy Michal Reinstein Czech Technical University in Prague, Italy Bruno Tranchero Alenia Aermacchi, Italy MESAS 2014 Event Manager Alessandro Cignoni, Simulation Based Acquisition Section Chief in the NATO M&S COE MESAS 2014 Organizing Committee Corrado Cacciatori - NATO M&S COE Tiziana Cartechini - NATO M&S COE Mattia Crespi - QBIT TECHNOLOGIES Marco Giorgi - NATO M&S COE Lucia Pallottino - University of Pisa Paolo Proietti - MIMOS MESAS 2014 Sponsors Inter-Domain and Multi-disciplinary Exchange of Knowledge within Modelling & Simulation and Robotics Communities of Interest The Idea At the beginning of 2012, Supreme Allied Command Transformationinvited all Centres Of Excellence (COE) to explore their possible involvement for the in- tegration of Autonomous Systems in the operational activities. In response to this request, the M&S COE became actively involved in a Study Group within theSystemAnalysisandStudyPaneloftheNATOScience&TechnologyOrga- nization entitled SAS 097:“Robotics Underpinning Future NATO Operations”. Moreover,the M&S COE contributed to the Multinational Capability Develop- ment Campaigns (MCDC) 2013 and 2014 by participating to the Autonomous Systems (AxS) Focus Area meetings under the lead of ACT. DuringITEC2013inROME,the Centrepresentedtheinformationcollected through SAS-097 and MCDC involvement. An example of the interaction be- tweenasimulatedenvironmentandarealrobotwasillustratedinwhatwecalled “ahybridworld”inwhichrealandvirtualrobotscooperatedtoaccomplishbasic tasks. InordertoinvestigatefurtherexamplesofhowM&Scanbeappliedtobetter integrateAxSintooperationalenvironments,theideaofMESASwasborn:that istocreateaCommunityofInterestfocusedonM&SinsupportofAutonomous Systems.Theideawasfurtherdevelopedwhenweconsideredimpactstotraining, command and control interfaces and future AxS development. Theplanning,organizationandconductofthisworkshopfitperfectlyintothe missionoftheM&SCOE,whichprovidessupporttoNATOandNationsthrough collaboration with industry, academia and other organizations for research and experimentation of M&S tools and concepts. The Way Ahead The future of integration and interoperability is reliant upon the exchange of ideas, visions and fresh perspectives, as well as experience, know-howand frank and open dialogue amongst all stakeholders. I think this workshop has proven to be a significant opportunity for high leveldebateonthetopicsImentionedaboveandIbelievethisnewlyestablished Community of Interest will continue to enhance future M&S/AxS development. NATO M&S COE Director Col. Stefano Nicolo´ MESAS 2014 Objective SystemswithAutonomousCapabilitiesareabbreviatedwiththeacronymxSAC, where the x indicates the operational domain: ground, maritime, air, space and cyber. MESAS 2014 Organizer NATO MODELLING AND SIMULATION CENTRE OF EXCELLENCE (NATO M&S COE) The NATO M&S COE is a recognized international military organization ac- tivated by the North Atlantic Council in 2012, and is not under the NATO Command Structure. Partnering Nations provide funding and personnel for the Centrethroughamemorandumofunderstanding.CzechRepublic,Italyandthe United States are current members, but other nations are in consideration. The NATO M&S COE supports NATO Transformation by improving the networking of NATO and nationally owned M&S systems, promoting coopera- tionbetweenNationsandorganizationsthroughthesharingofM&Sinformation and serving as an international source of expertise. TheNATOM&SCOEseekstobealeadingworldclassorganization,provid- ing the best military expertise in modelling and simulationtechnology,method- ologies and the development of M&S professionals. It will be the focal point of an integrated network of M&S training centres and other COEs promoting an interoperable,distributedM&SServiceto all ofNATO andPartneringNations. Key Objectives: (cid:129) Within 5 years, the NATO M&S COE will provide NATO and Nations a M&S framework composed of a Distributed Simulation Environment and Subject Matter Experts in M&S for Concept Development and Experimen- tation. (cid:129) Beyond5 years, the NATO M&S COE will providea persistent, distributed M&S framework among COEs, Nations, NATO training entities (JFTC, JWC) and key industry players, becoming the premier influential entity in M&S standardization. NATO M&S COE with its M&S framework will become the glue for interdisci- plinary military projects. https://www.mscoe.org/