8th cgf & br conference 11 - 13 may 1999 copyright 1999 institute for simulation & training...
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Continuous Planning and Collaboration
for Command and Control in Joint Synthetic Battlespaces
Jonathan Gratch
Randall W. Hill, Jr.USC Information Sciences Institute
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Motivation
• Need cost-effective C2 modeling– Replace / augment human controllers with automated C2 – Represent a wide range of organizations and situations
• Need realistic C2 behavior– C2 models must make believable decisions– The outcomes of C2 operations need to be credible
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Project Goals
• Develop autonomous command forces– Act autonomously for days at a time
• Reduce load on human operators
– Behave in human-like manner• Produce realistic training environment
– Perform C3I functions• Reduce the number of human operators• Create realistic organizational interactions
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Command Force Requirements
• Continuous Planning– Understand evolving situations– Achieve goals despite unplanned events
• Collaborative Planning– Understand behavior of other groups
• friendly forces and opposing forces
– Understand organizational constraints• communication, coordination, authority
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Command Force Requirements
• Intelligence– Identify information requirements– Focus intelligence collection efforts– Model intelligence constraints on planning
• Companion paper:– Deriving Priority Intelligence Requirements for
Synthetic Command Entities
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Mission Capabilities
• Army Aviation Deep Attack– Battalion command agent– Company command agents– CSS command agent– AH64 Apache Rotary Wing Aircraft
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
BP
FARPCSS
HA
HA
FLOT
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Soar-CFOR Planning Architecture
• Support for continuous planning– Integrate planning, execution and repair– Continuous situation awareness
• Support for collaborative planning– Reasons about plans of multiple groups– Facilitates plan sharing among entities– Explicit plan management activities
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Simulation Architecture
Battalion Commander
Company ACommander
Company XCommander
Company A
PilotHelicopter
PilotHelicopter
PilotHelicopter
ModSAF
Company X
PilotHelicopter
PilotHelicopter
PilotHelicopter
….
….
Operations Order(plan)
Operations Order(plan)
Operations Order(plan)
Situation Report(understanding)
Situation Report(understanding)
Situation Report(understanding)
PerceptsActions PerceptsActions
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Architecture
• Planner– Implements continuous planning capabilities
• Situation Assessment– Fuses sensors, reports, and expectations – Generates and updates current world view
• Plan manager– Supports collaborative planning capabilities
• Domain Theory– Declarative knowledge base of domain knowledge
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Continuous Planning
• Implements basic planning functions– Generates plans– Controls execution & coordination of subordinates– Recognizes Situation Interrupts and makes repairs
• INPUT: – Domain theory (tasks, plan fragments, assets)– Mission objectives, friendly/enemy plans (from OPORDER)– Existing plans– Current situation (from Situation Awareness)
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
What are Plans?
• Hierarchically ordered sequences of tasks
• Plans capture assumptions– Column movement assumes enemy contact unlikely
• Plans capture task dependencies– Move_to_Holding_Area results in unit being at the HA,
(precondition to moving to the Battle_Position)– OPFOR and Co must be at the Engage_area simultaneously
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Company A plan
Company B plan CSSplan
Move Move Move
Move Move Move Move
Engage EngageReturn ReturnMove
OPFOR Plan
Move Move
Move
Battalion Tactical Plans
CoDeep Attack
CoDeep Attack
FARPOperations
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Situation Interrupts Happen!
destroyed(Enemy)
Attack(A, Enemy)
Move(A,BP) Engage(A,Enemy)
at(A,BP)at(A,FARP) at(A,BP) destroyed(Enemy)
destroyed(Enemy)
at(A,FARP)
at(Enemy,EA)
Current World
active(A)
Star
t of
OP
ADA
Attack
active(A)active(A)
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Reacting to Situation Interrupt
• Situations evolve unexpectedly– Goals change, actions fail, intelligence incorrect
• Planner detects if change affects plan– Invalidate assumptions?– Violate dependency constraints?
• Repair plans in response to ramifications– Retract tasks invalidated by change– Add new tasks– Re-compute dependencies
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Collaborative Planning
• Reason about plans of other entities– Friendly forces, OPFOR
• Reason about interactions between plans• Reason about protocols for resolving
conflicts• Reason about my role in the organization
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Interaction Example
Move(A,BP) Engage(A,Y)
Dead(Y)
Move(CSS,HQ)
at(CSS,HQ)at(CSS,FAA)
at(gas,FAA) at(gas,HQ)
at(A,BP)at(A,FAA) at(A,BP)
at(gas,FAA)
Op e
rati
on B
egin
s
Combat Service Support Plan
Attack Helicopter Company Plan
resupplied(HQ)
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Planning Stances
• Authoritative – Order subordinate to alter his plans
• Tell CSS to abandon re-supply operation
• Deferential – Change my plans to de-conflict with superior
• Find a way to work around re-supply activity
• Adversarial – Try to introduce conflict in other agent’s plan
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Plan Management
• Must model when to use different stances– Involves organizational issues
Where do I fit in the organization
– Stances may need to change over timeDuring COA Analysis, adopt an adversarial stance towards ones own plans
• Must model how stances influence planning– How do we alter COA generation
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
When to Use a Stance
• Model the collaborative planning process– Includes management tasks that modulate the
generation of tactical plans• Tasks refer to specific tactical plans• Specify preconditions on changing stance
– Includes knowledge of one’s organizational role
• Planner constructs management plans– Use same mechanisms as tactical planning
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Example Management Plan
• Explicitly modeling Military Decision Making Process
COADevelopment
Authoritative towards subordinatesDeferential towards superiorsAdversarial towards OPFOR
COAAnalysis
Authoritative towards OPFORAdversarial towards self (war gaming)
Tasks Stances
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Implementing Stances
• Implemented as search control on planner– Plan manager:
Takes executing management tasks
Generates search control recommendations
• Example: Deferential Stance– When giving orders to subordinates
Indicate subset of plan is fixed (defer to this)
Indicate rest of plan is flexible– Plan manager enforces these restrictions
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Interaction Example
Move(A,BP)
Move(CSS,HQ)
at(CSS,HQ)at(CSS,FAA)
at(gas,FAA) at(gas,HQ)
at(A,BP)at(A,FAA)
at(gas,FAA)
Init
ial S
tate
PlannerRetract
Retract
Deferential towards
Combat Service Support Plan
Make CSS Planner defer to Company A’s Plan
Manager
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Architecture
• Encode theory of organizational interaction– Represent stances, authority relationships
• Processed by plan manager
general purposeReasoner(Planner)
Plan Manager Management
Plans
Management Plans
Tactical PlansTactical Plans
ManagementTheory
domain independent
ManagementTheory
domain independent
Tactical Domain Theory
Tactical Domain Theory
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8th CGF & BR Conference11 - 13 May 1999
Copyright 1999 Institute for Simulation & Training
Summary
• Realistic, cost-effective C2 modeling– Automate C2 processes– Need flexible, multi-agent planning
• Continuous Planning– Integrates situation awareness, planning, execution, and repair
• Collaborative Planning– Reason about others’ plans, plan interactions– Represent wide range of organizational interactions using
planning stances
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