1. Common parts Aditya & Yves

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

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

4. Supervisor

5. Vehicle Specialist

6. 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 20 10 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 10 -10 GPS ! Swap D A B C BC D Ground 3 4 5 2 1 B C D A

7. 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 20 10 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 10 -10 GPS ! Swap D A B C BC D Ground Launch? Yes No 3 4 5 2 1 B C D A

8. 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 ! 3 4 00h17mn37s Bat 6mn00s 15.5 m 20 10 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 10 -10 GPS ! Swap Launch D A B C BC D Ground 3 4 5 2 1 B C D A

9. Planner

10. Planning Specialist

11. ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 ! 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 20 10 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

12. ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 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 20 10 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

13. ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 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 20 10 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

14. Pilot/Manual Control

15. Imaging Specialist

16. PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

17. PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

18. PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 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 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

19. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tagging a Mine: Right click on map Tagging a Mine: Right click on map 0 90 Preset Views Tag Mine? Yes No 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

20. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Mine(s) Tagged 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

21. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tagging guards: Right click on map Tagging guards: Right click on map 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

22. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Guard Tagged 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

23. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tracking guards 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

24. Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Guards are being tracked (stops plan) Guards are being tracked (stops plan) 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 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

25. Ground Monitoring

26. PlannerActiveIncoming Primary Screen B H ZoomZoom B 4 5 Hold Commandos 2 1 3 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

27. H B 4 5 ! 2 1 3 1

28. 3 3 3 15.5m 20 10 ! BAT ! WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn 3 3 ! 6 X 5 D 3

29. 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

30. Plan Control Altitude Speed Hover Hostage Demine 0 90 0 45 Preset Views

31. Phase 2 Phase 1 GPS Locked Status Panel Bat 8mn00s 15.5 m 20 10 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 10 -10 GPS !

32. Bat Incoming UAV 22mn Launch 0m 10 -10 GPS ! Swap D A B C D A B C

33. PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B 3 4 Bat 8mn00s GPS Locked Supervisor Bat GPS 0m 10 -10 Incoming UAV 22mn 4 5 Swap No Lock ! ! 2 1 3 1 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 20 10 00h17mn37s

34. PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor Bat GPS 35m 50 30 Incoming UAV 19mn30 4 5 SwapLaunch No Lock ! ! 2 1 3 1 Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming ! 3 4 15.5m 20 10 00h17mn37s

35. ActiveIncoming Primary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor 4 ! 2 1 3 1 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 5 15.5m 20 10 00h17mn37s

36. ActiveIncoming Primary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor 4 ! 2 1 3 1 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 20 10 00h17mn37s

37. ActiveIncoming Primary Screen B H B Supervisor 4 ! 2 1 3 1 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 20 10 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

38. PlannerIncoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Active UAV H B 4 5 ! 1 3 1 2 Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 15.5m 20 10 00h17mn37s

39. Planner Active Incoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Supervisor Active UAV H B 4 5 ! 1 3 1 2 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 0 90 45 15.5m 20 10 00h17mn37s

40. Planner Active Incoming Primary Screen Secondary Screen 3 4 Bat 5mn30s GPS Locked Supervisor Active UAV H B 4 5 ! 1 3 1 2 Mine(s) Tagged WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 0 45 Preset Views 15.5m 20 10 00h17mn37s

41. PlannerActiveIncoming Primary Screen B H ZoomZoom B 4 5 Hold Commandos 2 1 3 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