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Likewise, small groups of unmanned systems have shown promise, particularly when coordinating to achieve a common goal [3]. Less studied are the potential benefits of large swarms comprising hundreds of capable unmanned systems, likely due to the difficulties associated with creating, or even simulating, such a system. Swarming unmanned systems operate in an environment with a large number of simultaneously moving vehicles, with extensive coordination in real time using mobile communication over a rapidly shifting and dynamic environment. They are often operating in confined areas, moving at speeds of several meters per second, and combining outdoor and indoor coordination.<\/jats:p>","DOI":"10.1145\/3457356.3457362","type":"journal-article","created":{"date-parts":[[2021,3,16]],"date-time":"2021-03-16T19:05:12Z","timestamp":1615921512000},"page":"17-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["CCAST"],"prefix":"10.1145","volume":"24","author":[{"given":"Shane","family":"Clark","sequence":"first","affiliation":[{"name":"Raytheon BBN Technologies, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kyle","family":"Usbeck","sequence":"additional","affiliation":[{"name":"Raytheon BBN Technologies, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"David","family":"Diller","sequence":"additional","affiliation":[{"name":"Raytheon BBN Technologies, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Richard E.","family":"Schantz","sequence":"additional","affiliation":[{"name":"Raytheon BBN Technologies, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2021,3,16]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3360913"},{"key":"e_1_2_1_2_1","unstructured":"Defense Advanced Research Projects Agency \"OFFensive Swarm-Enabled Tactics (OFFSET).\" https:\/\/www.darpa.mil\/work-with-us\/offensiveswarm- enabled-tactics\/.  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Walker etal 2019. A playbook-based interface for human control of swarms. Human Performance in Automated and Autonomous Systems: Emerging Issues and Practical Perspectives.  P. Walker et al. 2019. A playbook-based interface for human control of swarms. Human Performance in Automated and Autonomous Systems: Emerging Issues and Practical Perspectives.","DOI":"10.1201\/9780429458323-4"},{"key":"e_1_2_1_19_1","unstructured":"Raspberry Pi Foundation 2020.\"Buy a Raspberry Pi 3 Model B -- Raspberry Pi.\" https:\/\/ www.raspberrypi.org\/products\/raspberry-pi-3- model-b\/.  Raspberry Pi Foundation 2020.\"Buy a Raspberry Pi 3 Model B -- Raspberry Pi.\" https:\/\/ www.raspberrypi.org\/products\/raspberry-pi-3- model-b\/."},{"key":"e_1_2_1_20_1","unstructured":"Raspberry Pi Foundation 2020. \"Buy a Camera Module V2 -- Raspberry Pi.\" https:\/\/www. raspberrypi.org\/products\/camera-module-v2\/.  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