ROE Simulation Program Rick Evertsz 1, Frank E. Ritter 2, Simon Russell 3, David Shepperdson 1 1 AOS, 2 Penn State, 3 QinetiQ BRIMS 2007 26 March 2007 Supported by AFRL/MLKH award FA8650-04-C-6440 and by the UK MOD's Analysis, Experimentation and Simulation corporate research programme (Project No: RT/COM/3/006). We thank Bill Knarr for helpful comments on ROE, and Colin Sheppard for useful discussions.
Outline of Presentation Overview of Project Outline ROE3 Demonstration Discussion 2
Motivation ROE "Directives issued by competent military authority that delineate the circumstances and limitations under which United States forces will initiate and/or continue combat engagement with other forces encountered" Driven by legal/military/political Subtle overlap; multi-national; unconventional foe Must be easy to apply, respect warfighter s RTSD ROE can put friendly forces at risk Trial and error too risky in modern environment Simulation-based ROE evaluation Environment 3
Project Objectives Primary Proof-of-concept Simulation tool where ROE affect behavior of synthetic entities ROE independent of tactics Secondary Human variability (e.g., stress, fear, fatigue) SME-friendly tactics/roe representation ROE inspection and tracing tools Reusable ROE and tactics Behavior models controlling and reacting to state of entities in the synthetic battlespace 4
ROE Classification Based on ROE Handbook for Judge Advocates (CLAMO, May 2000) Political/legal/military dimensions Also Looked at: FM 27-100 [Joint Publication 1-02] Legal Support to Operations 5
ROE Software Perspective Types of ROE requiring different software implementation techniques? ROE determine permissible military action **Right to self-defense** Restrictive Permissive Preference Define ROE-relevant criteria You may presume that civilians in public armed with crew-served weapons, automatic weapons or rifles are members of the national police or paramilitary groups, and therefore may be treated as hostile 6
ROE3 ROE Framework ROE Modeling (Meta-Plans) CoJACK Tactics Modeling (JACK Plans) ROE Moderators Behavior Moderation JACK Teams (CoJACK) Tactics CGF Interface Layer (BabelBox) Situation Mapping Embodiment Situation Mapping API extensions BabelBox(JACKSIM) OTB 2 7
ROE Framework ROE represented as Meta-knowledge Meta-Plans choose amongst Plans Tactics annotated with ROErelevant effects Shoot(X) = LethalForce(X) 8
ROE Framework ROE Framework CoJACK JACK Teams Situation Mapping BabelBox OTB 2 9
ROE Framework ROE Framework JACK Teams (Tactics) Threat assessment Situation Assessment Is a protected entity under threat? no yes Hostile Intent has been demonstrated Is the targeting lethal? no nox X yes Increment the threat assessment Epinephrine Reservoir Fear Concentration Memory of Similar Episodes 10 Pre-task Appraisal COJACK (Moderators)
ROE Methodology ROE are restraints/preferences on tactical options Need to know ROE-relevant effects Label plans having ROE-relevant actions Annotate plans with ROE-relevant actions Table mapping concrete actions to abstract ROE categories Augment for new scenarios, e.g., ROEcategory(grenade, lethalforce) 11
ROE Meta-Plan Filtering 12
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CoJACK ROE Framework CoJACK JACK Teams Situation Mapping BabelBox OTB 2 16
CoJACK Extends JACK with some features of a cognitive architecture and a representation for behavior moderators Moderators time-based functions Sensitivity to moderators Define moderator exposures 17
JACK Teams ROE Framework CoJACK JACK Teams Situation Mapping BabelBox OTB 2 18
JACK Teams JACK is an agent-based COTS product based on the BDI paradigm Agents/teams, plans, events, beliefsets Agents/teams synthetic entities, inc. organizational structures Events trigger reasoning and action plans how to respond to events Beliefsets agent s knowledge 19
Situation Mapping ROE Framework CoJACK JACK Teams Situation Mapping BabelBox OTB 2 20
JACKSIM Situation Mapping ROE Framework JACK Cognitive Architecture (COJACK) (extension to BDI core) JACK Teams BDI Platform (agent-based infrastructure) JACKSIM Actions Percepts JACKSIM (situation mapping) Babel Box Actions Simulation State CGF Integration Layer + Babel Box OTB v2.0 (synthetic environment) 21
BabelBox and OTB ROE Framework CoJACK JACK Teams Situation Mapping BabelBox OTB 2 22
Overview (OTB) BabelBox OTB 2 BabelBox Provides COJACK with access to private-level OTB data Allows tasking and modification of entities Gathers key Situational Awareness data OTB v2.0 Int l modified to provide additional functionality Added library to overcome OTB architectural limitations Fine control of IC movement Requirement for multi-tasking move, shoot and throw grenade concurrently Need to represent verbal communications, rock throwing, additional postures 23
SAF (OTB) Interaction 24 BabelBox OTB 2
BabelBox Design BabelBox OTB 2 25
Changes to OTB (1) BabelBox OTB 2 Libvicbb new task for external control Allows concurrent tasking (e.g., shoot while moving) Gives complete control over timing and execution Encapsulates existing IC libraries vicmove, vthrowgrenade etc. New IC entity (based on M16A2) Disabled background targeting behaviors Added radio to represent speaking uses messages display 26
Changes to OTB (2) 27 BabelBox OTB 2
Changes to OTB (3) New Posture State Added waving gun posture Simple 2-state animation New rock munition Based on existing flashbang grenade Creates a detonation which can be detected by SAF entities, but causes no damage 28 BabelBox OTB 2
BabelBox/OTB Capabilities (1) Reporting data from OTB1/2 BabelBox OTB 2 Implementation State Entity s type BB & OTB Entity s location & orientation BB & OTB List of entities spotted BB & OTB Posture and weapon state BB & OTB Damage state BB & OTB Entity s SAF-specific ROE BB & OTB 29
BabelBox/OTB Capabilities (2) BabelBox OTB 2 Control of entities via external systems Implementation State Entity movement & orientation BB & OTB Fire upon a target entity or location (with grenades and ballistic weapons) BB & OTB Changing weapon and posture states BB & OTB Mounting and dismounting of vehicles BB & OTB 30
ROE3 Summary ROE Framework: ROE independent of tactics JACK + CoJACK: tactics and behavior moderators JACKSIM: embodiment and situation mapping BabelBox: CGF interface layer 31
Building a Scenario Behavior Models Agents, Tactics, ROE, Moderators Scenario-specific initialization files Physical Models Messaging API Extras e.g., 3D Visualization 32
Demonstration Scenario Convoy Roadblock Rebels Marines 34
Common Scenario Intro 35
Common Scenario Intro 36
Scenario Variations Moderator: fear If the Marines Have experience of waving weapon with lethal consequences for friendlies, high fear Perceive it as hostile Put weapon down Rebels target Marines Rebels charge, weapons ready Throw rock at vehicle 37
Conclusions ROE Framework: ROE independent of tactics, Can be added to an architecture JACK + CoJACK: tactics and behavior moderators JACKSIM: embodiment and situation mapping BabelBox: CGF interface layer Multiple Layers help
References Busetta, P., Rönnquist, R., Hodgson, A., & Lucas, A. (1999). JACK intelligent agents - Components for intelligent agents in JAVA. AgentLink News Letter, 2(Jan.). The Judge Advocate General s School, U.S. Army (2000a). Rules of Engagement (ROE) Handbook for Judge Advocates. Charlottesville, VA: US Army's Center for Law and Military Operations. The Judge Advocate General s School, U.S. Army (2000b). FM 27-100, Legal Support to Operations,Department of Defense Dictionary of Military and Associated Terms. Washington DC: Headquarters, Department of the Army. Ritter, F. E., & Norling, E. (2006). Including human variability in a cognitive architecture to improve team simulation. In R. Sun (ed.), Cognition and multi-agent interaction: From cognitive modeling to social simulation (pp. 417-427). Cambridge, UK: Cambridge.