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Background: The UA-UGV cooperative development program is a USAF robotics R&D effort to
develop and extend technologies to enhance UA/UGV capabilities through cooperative behaviors. This
initiative captures the lessons learned in the 2003 STORK demonstration and seeks to advance the
combined potential of UA and UGVs interoperating together in a common network to increase mission
effectiveness. Planned development includes: (1) a JAUS/NATO STANAGS-compliant UA, (2)
enhanced teleoperation and autonomy of low-cost rotary-wing UA, (3) an aerial communications relay to
extend the radio range of UGVs, (4) insertion of aerial imagery into UGVs for map/model building and
situational awareness, (5) precision UGV marsupial emplacement/recovery using a rotary-wing UA, (6)
terrain modeling for UGV path planning – adapting existing technology to JAUS-compatibility, and (7)
visual recognition for obstacle avoidance/intruder detection. A range of JAUS compliant UA/UGV
platforms are envisioned. A summary of two potential platforms follows:
Characteristics of Possible Platforms:
R-Max UA ARTS UGV
Size 12’ x 2’ x 3.5’ Size 9.5’ x 5.5’ x 6.5’
Main Rotor Diameter 10 ft Weight 8100 lb
Tail Rotor Diameter 21 in Ground Clearance 14 in
Performance of Possible Platforms:
Maximum Payload 68 lb Maximum Payload 3500 lb
Flight Duration 60 mins Endurance 6-8 hrs
Line of Sight Distance 492 ft Maximum Speed 8 mph
Track Ground Pressure ~2 PSI
Line of Sight Distance 1.5 miles
UGV-UA Cooperative Development at SPAWAR Systems Center San Diego
The UGV-UA cooperative development efforts at SPAWAR Systems Center San Diego (SSC-SD) are
designed to take advantage of the 20 years of experience in ground and air unmanned systems, and the
current SSC SD products including Multi-robot Operator Control Unit (MOCU) and MDARS-E.
Development is taking place in several areas.
The first area is the development of an Autonomous UAV Mission System (AUMS) for Vertical Takeoff
and Landing UA. The goal of the system is to allow a UA to be launched, recovered, and refueled by a
host or stand-alone platform in order to provide force extension through autonomous aerial response. The
recovery capability will be an integration of vision technologies from Carnegie Mellon University and the
Jet Propulsion Laboratory as well as GPS technology from Geodetics, Inc. The system will operate with
different manned and unmanned vehicles and will use the JAUS protocol and the SSC-SD MOCU
command and control interface. AUMS may be modified for use by multiple ground and air platforms.
Some of the near-term UA missions include reconnaissance, RF communications relays, overhead visual
GPS augmentation, surveillance, psychological operations, and mine detection. Future uses include target
designation and payload dispersal (i.e., submunitions, ThrowBots, sensors). Other benefits are seen in the
UAS ROADMAP 2005
APPENDIX J – UNMANNED GROUND VEHICLES
Page J-10
mission flexibility that allows the UA to be launched from one type of system and captured by another
(i.e., launched from an UMV and recovered by a HMMVW). The decrease in time and personnel
required to refuel a UA between mission operations leads to an increase in the number of missions a UA
can complete in a given period of time.
The second area of development, JAUS-compliant UA, compliments the AUMS project and is producing
its own results. SSC-SD is establishing partnerships with Allied Aerospace, Northrop Grumman, Tyndall
Air Force Research Laboratory (AFRL), Idaho National Engineering and Environmental Laboratory
(INEEL) and Rotomotion, LLC, to develop JAUS VTOL UA platforms. These platforms will not only be
used in the AUMS development, but will also be used for experiments, demonstrations and testing
involving UGV-UA cooperation concepts. The table below lists some of their characteristics.
The third area of development is UGV-UA collaboration behaviors. Several application areas that will be
explored include: (1) countermine operations, (2) IED detection, (3) precision targeting using aerial
sensors, (4) CBRN contamination, (5) meteorological sensors, (6) communication relays and (7)
ThrowBot delivery to areas outside range of manual deployment. SSC-SD will partner with other
government agencies and industry to conduct experiments and demonstrations.
Yamaha RMAX Type II Allied Aerospace
iSTAR
Rotomotion Twin
Characteristics of Possible Aircraft:
Allied Aerospace
iSTAR Ducted Fan
Yamaha RMAX
Helicopter
Rotomotion Twin
Helicopter
Size 44” H x 29” W 12’ x 2’ x 3.5’ 64” x 20” x 25”
Main Rotor Diameter 10 ft 72 in
　
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