Modelling and Simulation for Autonomous Systems: Revised Selected Papers of the 7th International Conference, MESAS 2020, Prague, Czech Republic, October 21, 2020

Preface
MESAS 2020 Organizer
Organization
Contents
Future Challenges of Advanced M&S Technology
Quantum Computing Based on Quantum Bit Algebra QBA
	1 Introduction
	2 Geometric Algebra
	3 Geometric Algebra G3
	4 Quantum Gates
	5 QBA
	6 Lie Algebra of QBA Bivectors
	7 Hyperbolic Qubits
	8 GAALOPWeb for Qubits
	9 The Example of the Basic Quantum Gate NOT
	10 Conclusions
	References
On Building Communication Maps in Subterranean Environments
	1 Introduction
	2 Related Work
	3 Proposed Communication Map Model
		3.1 Gaussian Process
		3.2 Descriptor Functions in GP-based Communication Map
	4 Results
	5 Conclusion
	References
Combat UGV Support of Company Task Force Operations
	1 Literature Review
	2 Requirements for Company Combat UGVs
		2.1 Other Manners of the Combat UGV Group Utilization
	3 The MCS CZ Multiple Maneuver Route Planning
	4 Case Studies of the Combat Use of the Company Task Force UGV Group
		4.1 Setting Speed of the MCS CZ in Tactical Situations
	5 Conclusion
	References
M&S Driven Experimentation for Concept Development on Combined Manned and Unmanned Vehicles in Urban Environment: Simulation Design
	1 Introduction
	2 Problem Formulation–Study Objectives
	3 Methodology
	4 Results
		4.1 Development of Scenario
		4.2 Development of the Conceptual Model
		4.3 Develop Simulation Environment Requirements
	5 Conclusion
	References
UAV Based Vehicle Detection with Synthetic Training: Identification of Performance Factors Using Image Descriptors and Machine Learning
	1 Introduction
	2 Object of Research
	3 State of the Art: Datasets, Image Descriptors, Classifiers
		3.1 Datasets for Image Pair Generation and UAV Vehicle Detection
		3.2 Image Descriptors as Classification Features
		3.3 Classification Algorithms
		3.4 Feature Selection Methods
		3.5 Feature Importance Methods
	4 Statistical Evaluation Based on a Classification Chain
	5 Evaluation and Results
		5.1 Classification of Real and Synthetic Image Pairs
		5.2 Classification of Independent Real and Synthetic Training and Test Data
		5.3 Classification of Correct and Incorrect Bounding Boxes
	6 Conclusion and Future Work
	References
Combining Epidemiological and Constructive Simulations for Robotics and Autonomous Systems Supporting Logistic Supply in Infectious Diseases Affected Areas
	1 Introduction
		1.1 COVID-19 Pandemic: The Rise of the Biological Threat
		1.2 Aim and Purpose of the Paper
	2 Creating a Spatiotemporal Epidemiological Scenario
		2.1 The Spatiotemporal Epidemiological Modeler (STEM)
		2.2 The STEM Scenario
	3 RAS Addressing Operational Problems
	4 Creating a MASA SWORD Scenario
		4.1 The MASA SWORD Constructive Simulation
		4.2 Environment Model
		4.3 Unmanned Ground Vehicle (UGV) Behaviour Model
		4.4 The SWORD Scenario
		4.5 SWORD Database Implementation
	5 Doctrine and COA Analysis with SWORD
		5.1 Analysis of Courses of Action 1 and 2
		5.2 Doctrine Analysis
	6 Conclusions
	References
M&S of Intelligent Systems - R&D and Application
Numerical Experiment on Optimal Control for the Dubins Car Model
	1 Introduction
	2 Differential Kinematics of the Mechanism
	3 Lie Algebra of the System
	4 Optimal Control of the System
	5 Optimal Control on Nilpotent Lie Algebra
	6 Symmetries
	7 Numerical Simulations
	8 Conclusion
	References
M&S Based Testbed to Support V&V of Autonomous Resources Task Coordinator
	1 Introduction
	2 Simulation Environment
		2.1 Platforms
		2.2 Sensors
		2.3 Environment
		2.4 Autonomous Resource Task Coordinator Integration
	3 Scenario
	4 Results
		4.1 Simulators Verification and Validation
		4.2 Experimental Set up for the ARTC
		4.3 Discussion of the Results
	5 Conclusions and Way Ahead
	References
Replacement Possibilities of the Medium-Size Truck Transport Capability by UAVs in the Disturbed Logistics Infrastructure
	1 Introductory Characteristics
	2 Possible Scenario of Humanitarian Distribution Logistics
	3 Research Goal, Methodology and Limitations
	4 Computing Model Creation and Its Modifications
	5 Conclusions
	References
Experimental Leg Inverse Dynamics Learning of Multi-legged Walking Robot
	1 Introduction
	2 Problem Statement
		2.1 Leg Inverse Dynamics Model
		2.2 Hexapod Robot Locomotion Controller
	3 Learning-Based Inverse Dynamics Models
	4 Experimental Evaluation
	5 Conclusion
	References
Multi-UAV Mission Efficiency: First Results in an Agent-Based Simulation
	1 Introduction
	2 Concept
		2.1 AHP-Based Metric Derivation
		2.2 From Measurement to Metric
		2.3 Aggregation of Results
		2.4 Analysis
	3 Experiments in a Simulation Environment
		3.1 Goal
		3.2 Scenario and System of Systems
		3.3 Simulation Design
	4 First Results
	5 Discussion
	6 Conclusion and Future Research
	References
The GRASP Metaheuristic for the Electric Vehicle Routing Problem
	1 Introduction
		1.1 Related Works
	2 Methods
		2.1 Problem Formulation
		2.2 GRASP Metaheuristic
		2.3 Construction
		2.4 Local Search
	3 Results and Discussion
		3.1 Dataset Description
		3.2 Parameters Tuning
		3.3 Final Results
	4 Conclusion
	References
Stereo Camera Simulation in Blender
	1 Introduction
	2 State of the Art
		2.1 Blender and Other Simulation Tools
		2.2 Pinhole Camera
		2.3 April Camera Calibration
		2.4 Camera Simulation in Blender
	3 Stereo Camera Simulation System
		3.1 3D Model
		3.2 Stereo Camera Simulation
		3.3 Capturing Software
	4 Experiments
		4.1 Synthetic Data
		4.2 Data Evaluation
		4.3 Testing of 3D Reconstruction System
	5 Conclusions
	References
Vision-Based Localization for Multi-rotor Aerial Vehicle in Outdoor Scenarios
	1 Introduction
	2 Related Work
	3 Evaluation Method for Localization Systems
	4 Results
		4.1 Localization Error
		4.2 Remarks on Practical Usage of the Intel RealSense Cameras
	5 Conclusion
	References
AxS/AI in Context of Future Warfare and Security Environment
Model of Surveillance in Complex Environment Using a Swarm of Unmanned Aerial Vehicles
	1 Introduction
	2 Problem Formulation
		2.1 Model of Aerial Surveillance
		2.2 Model of Aerial Surveillance with Simultaneous Detection
	3 Solution Algorithms
		3.1 Evaluation of a Solution
		3.2 Deployment of Waypoints
	4 Experiments and Results
		4.1 Benchmark Surveillance Operations
		4.2 Simulation Results
		4.3 Analysis and Discussion
	5 Conclusions
	References
Initial Solution Constructors for Capacitated Green Vehicle Routing Problem
	1 Introduction
	2 Related Work
	3 Problem Definition
	4 Selected Methods
		4.1 Initial TSP Constructions
		4.2 CGVRP Tour Repair Procedures
	5 Results and Discussion
		5.1 Experiment Setup and Parameters
		5.2 Initial Construction Comparison
	6 Conclusions
	References
Artificial Intelligence in the Defence Sector
	1 Excursus
	2 Strategic Approach to Military and Defence AI
	3 Strategic Importance of AI
	4 Future Developments
	5 Conclusion
	References
Artificial Intelligence and Robotics Addressing COVID-19 Pandemic’s Challenges
	1 Introduction
		1.1 Background and Identification of the Problem
		1.2 Aim, Purpose and Methodology
	2 New Technologies in Support of the Fight Against COVID-19
	3 Artificial Intelligence, Drones and Robots
	4 Lessons from the Pandemic for the Post-pandemic World
	5 Ethics, Bias and Privacy
	6 Linking AI and Robotics with the HDP Nexus
	7 Conclusions
	References
ORB-SLAM2 Based Teach-and-Repeat System
	1 Introduction
	2 State of the Art
		2.1 ORB-SLAM2
		2.2 Teach-and-Repeat
		2.3 SSM-Nav
	3 Teach-and-Repeat Method
	4 Experiments
		4.1 Hardware and System Implementation
		4.2 Tests of Systems
	5 Conclusions
	References
Author Index