supply the required bandwidth, latency, and reliability. A number of options are available that can reliably deliver low-latency traffic at data rates sufficient to support compressed video.

Since cables may become entangled or cumbersome in buildings or cave complexes, short-range radio frequency (RF) communications may be necessary. The physical environment in which the Searcher operates limits the availability of direct-path communications. This makes communications at video data rates at 1 km slightly out of reach of current systems. A number of emerging systems, such as enhanced wireless local area network (EWLAN), JTRS Wideband Waveform, Surgical Strike, global mobile (GLOMO), and ultra wideband (UWB) systems, may be able to support operation up to 1 km at compressed video data rates. However, significant enhancements in seamless networking to support dynamic routing, QoS, and assured connectivity will be required if the operational range for the Searcher is increased significantly beyond 1 km. As the Searcher evolves and becomes capable of executing higher-level commands, such as “climb the stairs,” the need for high-capacity, low-latency data communications will decrease. This will simplify the communications problem for the Searcher.

Because the Donkey is intended to carry supplies along a predefined path, communications is not a critical feature of the Donkey’s mission. The primary required communication is to interact with humans located near the start and release points of the electronic path. With the addition of appropriate security there are a number of existing military and commercial systems that would be adequate for this low data rate, moderate latency, direct-path communications. As an augmentation to the basic concept for the Donkey, operators may want to redirect the Donkey en route or provide a level of situation awareness to enhance survival. Again, a number of currently available data links could perform this basic function; however, to provide this coverage reliably over long distances would require improvements in jamming protection, signal detectability, and advanced network-routing capability that is beyond the current state of the art.

Because the Wingman is intended to provide close support of a manned unit, it is important that communications between the Wingman and its controlling manned unit must be moderate to high bandwidth, moderate latency, and high reliability. These communications may include transmission of compressed video from the Wingman to its controlling unit, control back to the Wingman, and shared situational awareness.

Depending on the separation of the Wingman and the controlling unit, current data links might be able to serve this function. As distances become greater and communications become necessary around obstructions, state-of-the-art communications networks will not be able to support this function. As the Wingman becomes more advanced, enhanced networking that could allow the Wingman to share situational awareness information with other UGVs, UAVs, or manned systems would be beyond state-of-the-art systems.

The Hunter-Killer is intended to support a mission that is doctrinally quite straightforward for a small unit of soldiers. To accomplish this mission the individual UGVs that make up a Hunter-Killer team will need to be in close communication. Current state-of-the-art communications fall significantly short of the current requirements for the Hunter-Killer primarily because of its network-centric characteristics.

Since surprise is essential to the Hunter-Killer mission, low probability of intercept/low probability of detection (LPI/LPD) communications must be enhanced significantly to support this mission.

Dynamic, autonomous local area networking in a tactical environment is a technology area that is not currently mature enough, but it is beginning to emerge in advanced technology efforts. EWLAN, small unit operations (SUO), and the GLOMO efforts are some recent programs that have demonstrated a level of dynamic autonomous operation for tactical LANs.

In principle an autonomous UGV that utilizes situational awareness information (e.g., enemy, friendly, terrain, weather) distributed within the FCS network will be very dependent on high bandwidth and assured communications. An autonomous UGV with most of its situational awareness information obtained through organic sensors would have less dependency on high bandwidth and assured communications, but it would probably cost much more, might not be able to achieve the same level of situational awareness, and could make itself a much more expensive system. The latter may also have a higher technical risk in terms of being able to produce a sufficiently intelligent vehicle.

For wire-line technologies to support the Searcher, a number of options are currently at TRL 6. Near-term wireless solutions for Searcher and Donkey are problematic. Network connectivity could easily be lost due to non-line-of-sight (NLOS) interference caused by terrain or obstacles (e.g., thick building wall). Directional communications systems using electronically steerable array antennas currently exist at TRL levels ranging from 2 to 4. Anti-jam and LPI/ LPD communications systems with very wide spreading exist in the UWB and a C-band and above with TRL levels between 2 and 4. A number of prototype systems have been built up that have the potential to provide dynamic ad hoc

Front Matter (R1-R20)

Executive Summary (1-12)

1. Introduction (13-16)

2. Operational and Technical Requirements (17-29)

3. Review of Current UGV Efforts (30-41)

4. Autonomous Behavior Technologies (42-71)

5. Supporting Technologies (72-93)

6. Technology Integration (94-103)

7. Roadmaps to the Future (104-110)

8. Findings and Recommendations (111-115)

References (116-120)

Appendix A: Committee Member Biographical Sketches (121-124)

Appendix B: Meetings and Activities (125-126)

Appendix C: Autonomous Mobility (127-150)

Appendix D: Historical Perspective (151-160)