This paper presents advancements in the use of simulation and tactical Augmented Reality (AR) for improved small unit maneuver. Significant literature exists detailing the use of simulation for preplanned robotic maneuver. However, the robotics literature assumes a more static scenario than those encountered during small unit maneuver where opposing forces may each be maneuvering to improve their relative positions.

The paper presents the use of simulation to continually update and inform soldiers of safe maneuver regions and then present via AR regions with specific favorable characteristics for firing. In this work, the authors utilize a simulation environment of the McKenna Military Operations in Urban Terrain (MOUT) as a baseline example demonstrating the ability to provide an overall map of areas with reduced lines of sight from potential enemy positions. The authors introduce an algorithm to find areas that enable the solider to move from positions with improved firing lines to cover and vice versa. The paper allows for dynamic repositioning and update of the cover map as additional information on opponent positions becomes available. Assuming the use of remote sensing capable of identifying dynamic enemy positions, this paper present the process for updating the maneuver map by utilizing pre-executed planning simulations.  This allows the tactical environment to present updated maneuver maps continuously accounting for changing knowledge of enemy positions.

Additionally, this paper explores the display of the information within a tactical augmented reality environment.  The authors utilized the Microsoft HoloLens 2 as the augmented reality device.   Utilizing this device, the authors explore the use of differing forms of visualization and visual communication to provide direction to the unit without redirecting the soldier’s attention from the task.   This improves the unit's lethality and protection.