1. 1 “Now that’s flying first class” (1990 advertisement for 100% Colombian coffee)

2. 2 Bridging the Gap between Technology and Military Operations Ensemble Behaviors Mission Tasks Ground Applications Sea Applications Air Applications Approved for Public Release, Distribution Unlimited - 1477

3. 3 Swarm Behaviors for Military Operations Comms Resources Sensor Resources Processing Resources Ensemble Behaviors Behavior Functionality Functions and MOEs/MOPs Mission Tasks Ground Applications Sea Applications Air Applications Approved for Public Release, Distribution Unlimited - 1477

4. Issue for SDR: Identification of “Killer App” Application for which DR is not just a feasible solution, or a good solution, but is the best solution, or preferably the only solution Critical issue: avoid peripheral technical challenges Impossible sensor and communications requirements User pull is for Camera On Wheels (“COW”) Small, but not Many Minimal software, implicit behavioral requirements

5. 5 Application Characteristics Favoring a DR Solution Intrinsic need for parallelism –Not only to speed up the process –Example: Preventing mobile targets from hiding behind objects to evade detection Need for expendability –Repetitive performance of sometimes-fatal act –Example: UXO PUCA (Pick Up and Carry Away) Need for “dedication” –Need for “agents” to be simultaneously present at multiple specific sites –Examples:  UXO BIP (Blow In Place)  Establishment and maintenance of a network of communications relays  Detection of intruders at multiple possible entry points

6. 6 More Application Characteristics Favoring a DR Solution Crisp user view of system-level functionality –Well-defined and comprehensible to the user –Support tasking, monitor, override, assessment –Above the level of individual robots’ activities –Example: “coverage” paradigm Minimal ancillary technical challenges: no “long- pole” peripheral technical challenges, so can focus attention and resources on the DR issues –Example: mobility requirements limited to smooth flat surfaces (building interiors) –Example: tractable mission-critical sensor requirements (AP Landmine detection fails this test) –Example: communications link and sensors for micro- UUVs

7. 7 Overall Issues for Distributed Robotics What’s the DR “killer app”? What are the precise metrics for a given application? What exactly is the system really supposed to accomplish? The goal is effective group action “Effective” may or may not imply “coordinated” “Coordinated” may or may not imply “cooperative” or “collaborative” Development is the big hump Bigger challenges than in the deployed system Communications to support debugging, reprogramming Power to support T&E (i.e., rechargeable)