Computer generated forces have modeled unmanned systems for several years. However, this modeling is usually in support of manned systems instead of the concentration on the robotic system as a cohesive team member. Robotics research has been focused on navigation and sensor environments within limited simulation domains. There has been little emphasis on effective utilization of modeling and simulation capabilities to create robust environments to test future unmanned systems performance, parameters, and mission effectiveness.

Research at SAIC concentrated on the group behavior of robotic entities operating in a live environment, connected and inter-operating in a constructive Computer Generated Force (CGF) environment. The Semi-Autonomous Forces Involving Robotic Entities (SAFIRE) research project involves operation of robotics within a live (real world) environment. Information and behaviors are fed back to a monitoring station where they are analyzed and presented. This behavioral testbed provides the opportunity to leverage traditional CGF system behavior insertions as well as determine limitations and directions. During the second year of research, the focus shifted towards the effective use of commanding/controlling the unmanned systems in a mixed mode environment (both autonomous and human control) as well as providing a more robust simulation environment. This environment consists of plug and play physical characteristics for testing new unmanned system designs, in addition to providing live feedback into the constructive simulation. These features allow a more complete training and analysis concerning the unmanned system s mission capabilities, detection, and survivability under various conditions. This paper is a lessons learned from the research project.