System of systems approach to threat detection and integration of heterogeneous independently operable systems

This paper presents a system of systems approach to threat detection through integration of heterogeneous independently operable systems. The approach is presented on a realistic situation where a human-controlled base robot, swarm robot(s), and sensors work together to obtain a decision about a possible threat in the environment. The base robot is remotely operated by a human using a haptic control system. The swarm robot(s) are autonomous and can accept directives from the base robot. Finally, sensors directly communicate with (report to) the base robot. In this scenario, heterogeneous systems and human interact in a system of systems architecture. With the inclusion of human expert and sensor verification of swarm robots, the system can successfully perform the threat detection and reduce the false alarms. Finally, a system of systems simulation framework including a base robot, a swarm robot, and two sensors is presented in addition to an experimental evaluation of the proposed SoS architecture.