Common parts Aditya & Yves

SupervisorPlannerActiveIncoming Primary Screen Secondary Screen Control Panel Status Panel Time Bar Mission Time

SupervisorPlannerActiveIncoming Primary Screen Secondary Screen Control Panel Status Panel Time Bar Task List? Mission Time Ground

Supervisor

Vehicle Specialist

PlannerActiveIncoming Primary Screen Secondary Screen B H B 3 4 Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launching the relief UAV 00h17mn37s Bat 8mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Launch 0m GPS ! Swap D A B C BC D Ground B C D A

PlannerActiveIncoming Primary Screen Secondary Screen B H B 3 4 Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launching the relief UAV 00h17mn37s Bat 8mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Launch 0m GPS ! Swap D A B C BC D Ground Launch? Yes No B C D A

PlannerActiveIncoming Primary Screen Secondary Screen B H B Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming ! h17mn37s Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 20mn 0m GPS ! Swap Launch D A B C BC D Ground B C D A

Planner

Planning Specialist

ActiveIncoming Primary Screen B H B Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 0 Take Off Altitude 10 m 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn X X X X X X Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 5 00h17mn37s Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x D A B C BC D Ground

ActiveIncoming Primary Screen B H B Supervisor WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 00h17mn37s Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn X X X X X 5 ! 1 D A B C Inserting a waypoint -right click on map -click in WP table -click on top right button Inserting a waypoint -right click on map -click in WP table -click on top right button BC D Ground Add WP

ActiveIncoming Primary Screen B H B Supervisor WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 00h17mn37s Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn 6 X X X X X X 6 5 ! 1 D A B C Drag/Drop Modifiers BC D Ground

Pilot/Manual Control

Imaging Specialist

PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard Change camera view: Click and Drag (does not stops plan) Change camera view: Click and Drag (does not stops plan) Ground

PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard KEYBOARD CONTROL A: strafe left D: strafe right W: forward S: backward Q: altitude UP Z: altitude DOWN (stops plan) KEYBOARD CONTROL A: strafe left D: strafe right W: forward S: backward Q: altitude UP Z: altitude DOWN (stops plan) Ground

PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! Tagging Mines and Vehicle WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Tagging a Mine: Right click on map Tagging a Mine: Right click on map 0 90 Preset Views Tag Mine? Yes No h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Mine(s) Tagged Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Tagging guards: Right click on map Tagging guards: Right click on map Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Tag Guards? Yes No WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Guard Tagged Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Tracking guards Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Track Guards? Yes No WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground

Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! Guards are being tracked (stops plan) Guards are being tracked (stops plan) Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission Plan Control Ground WP-3HoverWP-4Alt 35mWP-5 BC D Tr. Guards

Ground Monitoring

PlannerActiveIncoming Primary Screen B H ZoomZoom B 4 5 Hold Commandos WP-BHoldWP-CHoldWP-D tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Ground Unit WPTime A Arrive t – 1:00 Depart t – 0:40 B Arrive t + 0:30 Depart t + 2:00 C Arrive t + 2:45 Depart t + 3:40 D Arrive t + 6:00 Depart t + 8:45 Add WP B A D C Ground Supervisor X X X X Assault BC D D A B C Plan Control Danger of being Detected by the Guards 00h17mn37s Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x

H B 4 5 !

m ! BAT ! WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn 3 3 ! 6 X 5 D 3

WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Mission WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission WP-1Hold Incoming

Plan Control Altitude Speed Hover Hostage Demine Preset Views

Phase 2 Phase 1 GPS Locked Status Panel Bat 8mn00s 15.5 m GPS 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Swap No Lock Launch 0m GPS !

Bat Incoming UAV 22mn Launch 0m GPS ! Swap D A B C D A B C

PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B 3 4 Bat 8mn00s GPS Locked Supervisor Bat GPS 0m Incoming UAV 22mn 4 5 Swap No Lock ! ! Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launch Launching the relief UAV 15.5m h17mn37s

PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor Bat GPS 35m Incoming UAV 19mn SwapLaunch No Lock ! ! Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming ! m h17mn37s

ActiveIncoming Primary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor 4 ! Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 0 Take Off Altitude 10 m 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn X X X X X X Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home m h17mn37s

ActiveIncoming Primary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor 4 ! Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn 6 X X X X X X Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 6 5 Inserting a waypoint 15.5m h17mn37s

ActiveIncoming Primary Screen B H B Supervisor 4 ! WP-3HoverWP-4Alt 35mWP-5 t-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn 6 X X X X X X Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 6 5 Inserting a waypoint 00h17mn37s Bat 6mn00s 15.5 m GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-1Hold Incoming

PlannerIncoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Active UAV H B 4 5 ! Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor m h17mn37s

Planner Active Incoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Supervisor Active UAV H B 4 5 ! Tagging a Mine WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Tag Mine? Yes No m h17mn37s

Planner Active Incoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Supervisor Active UAV H B 4 5 ! Mine(s) Tagged WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission Preset Views 15.5m h17mn37s

PlannerActiveIncoming Primary Screen B H ZoomZoom B 4 5 Hold Commandos WP-BHoldWP-CHoldWP-D tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Ground Unit WPTime A Arrive t – 1:00 Depart t – 0:40 B Arrive t + 0:30 Depart t + 2:00 C Arrive t + 2:45 Depart t + 3:40 D Arrive t + 6:00 Depart t + 8:45 Add WP B A D C Ground Supervisor X X X X Assault D A B C BC D Plan Control Danger of being Detected by the Guards 00h17mn37s