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On Application of Discrete Event Simulation in Armoured and Mechanized Units Research ∗
Radomir Jankovic Union University School of Computing 6 Knez Mihailova str., Belgrade
Momcilo Milinovic, Olivera Jeremic Faculty of Mechanical Engineering 16 Kraljice Marije str., Belgrade
Nebojsa Nikolic Strategic Research Institute 38 Neznanog Junaka str., Belgrade
Abstract The results of armoured and mechanized units research by means of discrete events simulation have been presented. The methodology and the research basic concepts: armed mobile platform and unexpected conflict have been first considered. A short survey of characteristic results of the research so far has been given: simulations of two tanks sudden conflict, impact of the main weapon choice to the conflict issue, ammunition expenditures during conflict, armoured battalion local area radio computer network operation and armoured battalion swarming. Finally, the basic directions of further research have been given. The research is underway at Union University School of Computing in Belgrade. KEYWORDS Discrete event simulation, armoured and mechanized units, research
1. INTRODUCTION The armoured and mechanized units (AMU) research by means of discrete events simulation based methodology is underway at the Union University School of Computing in Belgrade. The basic motivation for the research is in the fact that AMU and main battle tank, as their representative paradigm, in spite of almost 100 years since their introduction in active service in armies throughout the world, have been and still are one of the key resources of the contemporary states armed forces, due to their great capabilities and versatility. On the other hand, unconventional and asymmetric warfare, so prevailing in our time, have questioned usability of traditional armoured and mechanized units. That opens two directions of further activities in the area: development of new, essentially different generations of armed mobile platforms (AMPs), and research of new tactical and operational procedures in their use. Finally, armoured and mechanized units are powerful, but very expensive resource. A huge amount of financial assets has already been invested in thousands of existing tanks, their production and maintenance evolve too many people, and all that represents an important economic factor, which should not be neglected. For small countries, like Serbia, the research in this area can provide answers to many important questions, such as the issues of the existing armoured and mechanized units’ rationalization, new generation of tanks development, production and maintenance, and particularly, conceptualizing of the new tactical and operational procedures, such as the swarming tactics. One should bear in mind that Serbia is one of few states which have relevant experts and facilities for upgrading certain types of armoured fighting vehicles and their provision with equipment appropriate for future war conflict challenges, which opens possibilities for introduction and competitiveness in the world market. The aim of this paper is to present the methodology, basic concepts and some of the results of the research, achieved in the last decade, as well as to point out the main directions of further work in this area. ∗
This work has been done within the project ‘Cost Effective Selection of New Technologies and Concepts of Defense Through Social Reforms and Strategic Orientations of Serbia on 21st Century’, supported in part by the Ministry of Science and Technological Development of the Republic of Serbia under Project No. III-47029.
2. MILITARY SYSTEMS RESEARCH METHODOLOGY The authors’ methodology for research and development of an armed mobile platform (AMP), as one of the most important ordnance systems, has been depicted in Fig.1. Computer simulation of the future AMP’s mission is a central activity in the methodology, and the results of the experiments executed by means of the realized simulators should answer the question whether the satisfactory performances of the AMP are achieved, along with simultaneous fullfilment of technical and economic criteria, i.e. could the avaliable industry and the state power provide sustainable development and exploitation of such combat system. One can go several times through different phases of the methodology, until the right solution, satisfying both groups of essential conditions, is achieved. It is only then when that the right result is obtained – the future system specification, which later goes through usual phases of development, testing and adoption in ordnance systems. Once adopted, the new AMP enriches the existing solutions knowledge base with new concepts, which has an important ipact to future solutions of such and similar complex military systems. It is of particular importance that the methodology includes and enriches the existing technical solutions set, both during and after the system’s life cycle.
STATE’S TECHNO -ECONOMICAL POSSIBILITIES
SYSTEM EXPLOITATION PRINCIPLES
NEED FOR NEW AMP DEVELOPMENT
EXISTING AMP SYSTEMS TECHNICAL SOLUTIONS
BROADER SYSTEM ANALYSIS
OTHER SUBSYSTEMS REQUIREMENTS
AMP REQUIREMENTS
AMP CONCEPTION
AMPMISSION SCENARIO
COMPUTER SIMULATION
REVISION OF REQUIREMENTS
NO
PERFORMANCE MEASURES OK ? YES TECHNOECONOMICAL CRITERIA OK?
NO
REVISION OF AMP CONCEPTION
YES AMP SPECIFICATION
AMP DEVELOPMENT
AMP TESTING AND ADOPTION
AMP EXPLOTATION
EXPLOITATION EXPERIENCE
OBSOLETE On the other hand, the experience acquired SYSTEM REMOVAL during research and development, as well as in course of testing and later exploitation, has been inFig.1 AMP systems /design methodology corporated in the methodology, and as such influences in certain extent the critical analysis of the existing and creating new principles of complex military system combat use. Because of such widely stated goals and complexity of the research object, the methodology leans on the operations research techniques, and in particular discrete events simulation, having the central place in it.
3. THE ARMED MOBILE PLATFORM (AMP) CONCEPT The armed mobile platform (AMP) concept has been introduced in the research, as an abstraction suitable for research and development of complex military system class, which has the following common properties: autonomous propulsion, man crew, armament and significant need for logistic support. The complex military systems that the AMP concept can be used for research and development may, for example, be: warship, armed helicopter, armed combat vehicle and many other. The environment of an AMP, as military system represent: adversary, friendly forces and the space (territory, aquatory or air space in which AMP and different targets and threaths are moving). The AMP subsystems of interest for research and/or development are most often: propulsion, embedded command information system, armament and logistic support. The AMP mission is the voyage to pass, from base to target and back to base. During that voyage, some other task execution is planned (some targets destruction, etc.). Target is adversary unit, system or device that can be destroyed or damaged by means of weapons at disposal to AMP, and threat is adversary unit, system or device that can destroy or damage the AMP. Target/Threat (T/T) is a concept which has been introduced, because the majority of threats can be targets at the same time. The unexpected conflict of two AMPs is a particular class of
extraordinary events in the simulation model of AMP mission, when there is conflict of interests of the AMP (to achieve the basic goal of the mission, i.e. to destruct all planned targets while preserving itself from destruction) and those of different adversary target/threats which tend to prevent the AMP, destroy or damage it. That concept is of particular importance for the research of armoured and mechanized units.
4. ARMED MOBILE PLATFORMS UNEXPECTED CONFLICT The two armed mobile platforms unexpected conflict [3, 4] is a concept for researching at micro tactical level the situation in which the platforms of the armoured and mechanized units complement will be most often in contemporary and future conditions of unconventional and asymmetric warfare. Basic assumptions for developing of the simulation model of two armed mobile platforms (AMP-1 and AMP-2) sudden conflict are the following:
(d) Post-conflict phase
2
1
a) AMP-1 and AMP-2 are moving by azimuths α1 and α2, and velocities V1 i V2 . Until the sudden 1 conflict, they are not aware of each other presence, (c) Fire 2 and are accomlishing independent missions. action b) AMP-1 is in possession of sensor S-1, and AMP-2 2 is in possession of sensor S-2, which are intended for surveillance and fire directing. Sensors are defined by their maximal ranges, DS-1 i DS-2. c) The AMP-1 platform is in a possesion of the (b) Conflict weapon OR-1, which can hit AMP-2 with probabi1 2 beginning lity pOR-1, and AMP-2 is in a possesion of the weapon OR-2, which can hit AMP-1 with probability pOR-2. The hit probabilities depend on the distance D between AMP-1 and AMP-2. The weapons are defined by their average action preparation times 1 2 TOR-1 and TOR-2 , maximal ranges DOR-1 and DOR-2, velocities of projectile flights to targets VL-1 i VL-2 and sizes of combat sets BK1 and BK2 associated to weapons OR-1 and OR-2. (a) Pre-conflict phase d) The coflict between AMP-1 and AMP-2 occurs when at least one of them detect the adversary by Fig. 2. Two AMPs unexpected conflict phases means of its sensor and if, due to further moving, their distance decreases till the range limit of at least one of the weapons, OR-1 and/or OR-2. The conflict stops when one of the AMPs is destroyed by the adversary's fire or when, due to further moving, distance increases out of range limits of weapons and sensors. In Fig. 2, the phases of two AMPs conflict have been depicted. The platforms AMP-1 and AMP-2 have been presented by their positions in the space they are moving in, zones of their detecting and fire directing sensors by clear circles, and zones of their weapons possible actions by shaded circles. Armed mobile platforms in conflict are the discrete dynamic system. In the simulation model, armed mobile platforms AMP-1 and AMP-2 are moving in 2D space, which is represented by Cartesian coordinate system (x,y), in which the y axe is oriented towards North. That assumption is valid in the majority of cases (always for warships, and almost always for armoured fighting vehicles). If the 3D moving AMPs are introduced in the model (aircrafts, helicopters or unmanned aerial vehicle), or if combat actions on the ground with great height differences are simulated, it can be introduced in already realized simulators without major difficulties. During the conflict, the azimuths (α1 and α2) of the AMP-1 and AMP-2 directions of moving, as well as their velocities, do not vary. This has been assumed, because the armed mobile platforms sudden conflict is rather
random than planned event, while the intention of every AMP is to continue its mission which has been going on so far. On the other hand, duration of the conflict itself and the weapon characteristicts nearly exclude the posibility of manoeuvring during the conflict. Current positions of armed mobile platforms are represented by points AMP-1 (x1,y1) and AMP-2 (x2,y2), and the trajectories of their movements by equations of straight lines, or any other law of motion chosen. The simulation model of AMP-1 and AMP-2 conflict is discrete and dynamic one, oriented to events. Activities in the system are represented by pure time delays. Simulation of two AMPs conflict is one of important activities in the research, because the main purpose of AMP, as complex military system is combat itself. i.e. conflict with adversary AMP. The goal of such simulation models development is to explore, by means of executing experiments with simulators, the impacts of various parameters of AMP as a system to the course and issue of the conflict and to make adequate decisions on AMP’s technical solutions and priciples of combat use.
5. SOME OF THE RESEARCH RESULTS SO FAR 5.1 Two mainbattle tanks unexpected conflict simulation Tank is an offensive combat vehicle, which means that its front side is best protected, lateral sides somewhat less, and the rear side is least protected [6, 7]. The engine and transmission are located in the rear part of the tank, and is mostly exposed at the rear side, less at lateral sides, and minimally at the front side. The propulsion mechanism (tracks, drive sprocket, road wheels) is least exposed at the front side, less exposed at rear side and most exposed at lateral sides. The turret drive is most exposed in the area between the hull and the turret. Having in mind tank dimensions, layout of the areas particularly important for tank operation and their sensitivity to hits, the tank in simulation has been firstly approximated by means of a parallelepiped which can contain its most visible parts (Fig. 3). If the Tank T-72: tanks in simulation are presented by means of parallelepipeds with dimensions a, b and c, then the main weapon of the T-1 tank at the distance d should hit the T-2 tank total exposed area, which depends on its motion direction and position relative to T-1. In the improved simulation model Fig.3 Tank aproximate areas and form factors [8, 9], besides tank dimensions, introduced through side areas of the parallelepiped approximating it, form factors have also been considered, defined by the expression: FFi , j =
STi , j Si , j
(1)
Where STi,j is real area of the tank’s side, and Si,j is the area of the corresponding approximate parallelepiped side. An example of determining form factors for well known T-73 tank has been depicted in figure 4 (shaded areas represent the difference between sides of approximate parallelepiped and corresponding real areas of the tank). Some well known contemporary tanks approximate areas and form factors [8,9] have been given in table 1. Index 1,3 from the table refers to front and rear side of tank, index 2,4 to lateral sides, and index 5 to tank’s upper surface. Table 1. Approximate areas and form factors Tank type ABRAMS M1A2 ARIETE 6 LEOPARD 2 T-90 M-84
Country of origin USA Italy Germany Russia Russia/ Serbia
FF1,3/S1,3 [m2] 0.857 / 8.711 0.832/ 9.025 0.856/11.100 0.808/7.908 0.795/8.113
FF2,4/S2,4 [m2] 0.795/22.888 0.839/18.975 0.849/23.100 0.739/16.000 0.731/15.504
FF5/S5 [m2] n.a. /28.987 0,993/27.400 0,936/28.490 0,931/25.510 0,984/24.627
In simpler versions of the simulator, the winning probabilities of T-1 and T-2 tanks in conflict have been expressed only through the exposed areas hitting probabilities of the main weapons p1 and p2, as functions of distance. In the improved simulation model, after introducing the impacts of tanks’ dimensions and form factors, the winning probabilities of the tanks T-1 and T-2 have been expressed as following: PT −1 =
PT − 2 =
FF2 / 1,3 S 2 / 1,3 cos β 2 + FF2 / 2 , 4 S 2 / 2, 4 sin β 2 FF1 / 1,3 S 1 / 1,3 cos β1 + FF1 / 2 , 4 S 1 / 2, 4 sin β1
FF1 / 1,3 S1 / 1,3 cos β1 + FF1 / 2, 4 S1 / 2, 4 sin β1 FF2 / 1,3 S 2 / 1,3 cos β 2 + FF2 / 2, 4 S 2 / 2, 4 sin β 2
p1
(2)
p2
(3)
Where β1 and β2 are angles of motion directions of the T-1 and T-2 tanks relative to adversary weapon’s sighting lines. In course of the research, many experiments have been executed by means of the programssimulator implemented in the GPSS World simulation language, with intention to determine various factors impacts to the issue of the two tanks unexpected conflict. 5.2 Simulation of the main weapon choice impact to two tanks conflict issue We shortly present here characteristic results of the tanks T-1 and T-2 unexpected conflict simulation [10, 11]. T-1 is armed with anti-armour laser beam guided missiles and T-2 with gun firing fast armourpiercing disposing sabot shells. The tanks characteristics have been given in table 1 (approximate areas and form factors) and table 2 (other characteristics included in the model). The tanks are moving towards each other, with velocities V1 and V2, and without awareness of each other until the very beginning of the conflict. Table 2. Comparative characteristics of tanks in conflict Characteristic Maximal speed Vi [m/s] Azimuth αi [0] Observation-sighting set range DOSS-i [m] Main weapon range DW-i [m] Hit probability pi [%] Time of main weapon preparation for fire action TW-i [s] Main weapon projectile speed VL-i [m/s] Basic load (amount of ammunition associated to weapon)
T-1 18 α1 5000 5000 80 10 ± 4 300 4/ 8/ 16
T-2 18 α1+180 5000 2000 70 8±2 1800 45
The chosen platforms are typical representatives of two different approaches in contemporary mainbattle tanks conceptions, and the goal of the simulation was to point out the advantages of considered main armaments and the impact of dimensions and form factors to such conflict issue. The characteristic result of such simulation, probability of victory (i.e. first hit probability, depending on starting distance of the tanks in conflict), has been presented in Fig. 4. CONFLICT ISSUE (first hit probability) Weapon ranges: DW-1=5000 m DW-2=2000 m
T-1 tank victory
T-2 tank victory
100
CONFLICT ISSUE PROBABILITIES [%]
The results indicate that at close ranges, the T1 tank, anti-armour laser beam guided missiles, has advantage, due to greater preciseness of the missile, and smaller own silhouette. That advantage reduces with range increase, and advantage of the T-2 tank, armed with classical gun firing fast armourpiercing disposing sabot shells, increases, until its effective range limit, because due to less velocity of the T-1 tank’s missile, the T-2 tank in that range of starting distances has possibility to fire more shells and increase the chance to win in the conflict. The changing zone is at range from 2000 to 2500 m, when the conflict issue is uncertain, and at greater distances, the T-1 tank has an absolute advantage, due to considerably greater effective range.
90 80 70 60 50 40 30 20 10 0 500
1000
1500
2000
2500
3000
3500
4000
4500
TANKS T-1 AND T-2 INITIAL DISTANCE [m]
Fig.4 Unexpected conflict issue probabilities
5000
5.3 Simulation of the ammunition expenditure during two tanks conflict The ammunition expenditures of main armaments of the tanks in conflict (UM1, the number of expended anti-armour laser beam guided missiles, and UM2, the number of fired armour-piercing disposing sabot shells) have also been analysed in course the research so far [13,14,15]. One of the characteristic results has been presented in table 3: mean values of ammunition expenditures UM1 and UM2, depending on the starting distance of the tanks T-1 and T-2 in an unexpected conflict and the size of basic load of the T-1 tank, which in that consideration could have values of 4 or 8 anti-armour laser beam guided missiles. Table 3. Mean values of ammunition expenditures UM1 and UM2 Do [m] 500 2000 2500 5000
Basic load 1 = 4 missiles UM1 UM2 1.589 2.079 1.764 2.512 2.108 2.076 2.948 1.528
Basic load 1 = 8 missiles UM1 UM2 1.689 1.926 1.859 2.375 2.252 1.853 3.529 0.957
The results of the executed experiments have shown that the BK1 combat set of 4 missiles has not been sufficient, because it has happened that in spite of great starting distances, the T-1 tank has launched all 4 missiles and missed, which has given the T-2 tank chance to come closer and win in the conflict.
5.4 Simulation of armoured battalion local area computer network operation For the sake of information support of the armoured and mechanized units’ combat actions in contemporary warfare, it is necessary to develop command information systems of armed mobile platforms groups (CIS GAMP). The CIS GAMP primary function is regular reporting of every AMP of the group of its current position and other information of interest, for the sake of updating the electronic maps and the situation assessment in real time. For that reason, every AMP has to be equipped with computer with an electronic map on its display, GPS receiver as a sensor for determining its own position and VHF radio communication device, so that all computers of the AMPs could be connected in local area network. The mobile local area computer network (LAN) represents one of the most important CIS GAMP subsystems, because it severely influences the system overall performance. During the RLAN research [16, 17, 18] simulation has been used to explore that influence, so that the adequate decisions could be made on technical solutions of the AMP group command-information system,. CIS GAMP operates effectively if it delivers regular AMP reports before their A R M O U R E D B A T T A L IO N R -L A N E F F IC IE N C Y obsolescence. The obsolete time tz [s] has been defined by the expression: 100 ad hoc
The C4I system preciseness, chosen for armoured and mechanized units, has been PCIS = 20m, which correspond to 3 lengths of contemporary tank.
r o ll- c a ll + c o m m a n d m e s s a g e s
90 80 70 URLAN [%]
P (4) t z = CIS VAMP where PCIS [m] is CIS GAMP preciseness (assigned displacement of the AMP due to further motion relative to previous position which could be tolerated as no movement at all), and VAMP [m/s] is the platform’s speed of movement within the group.
r o ll- c a ll
60 50 40 30 20 10 0 0
1
2
3
4
5
6
7
8 V
9 1011 1213 14 1516 17 1819 20 nm p
[m /s]
Fig.5 Armoured battalion LAN algorithm efficiency
Three different algorithms of the RLAN operation has been explored: ad hoc RLAN network with standard CSMA/MD algorithm [18], RLAN network with roll-call of participants [19] and RLAN network with roll-call of participants and two kinds of messages: command and reporting [20]. The characteristic result of simulation experiments has been presented in the Fig. 5.
5.5 Simulation of armoured battalion swarming In military sense of the word, swarming [20] is a tactics by which military forces attack an adversary from many different directions, and then regroup. Repeated actions of many small, manoeuvrable units are going on, circling constantly through the following four phases of swarming: disperse deployment of units in battlefield, gathering (concentration) of many units on common target, action (strike or fire) at a target from all directions and dispersion of units. The way of swarming application is depicted in Fig.6, and its basic characteristics have been given in table 4.
SWARMING TACTICS
⇒ SEVERAL SMALLER UNITS
T/T
⇒ SEVERAL REPEATED ACTION CYCLES
LEGEND: Tank T/T
Threat/Target unit Action cycle
• • • •
Dispersion Gathering Action Dispersion
Fig.6 Armoured and mechanized units swarming
Table 4. Swarming: basic characteristics 1. 2. 3. 4. 5. 6.
Autonomous/semiautonomous units, engaged in concentrated attack at common target Amorphous, coordinated attack from all directions by continuous “pulsed” fire/shock assaults Many small, space dispersed mutually networked units. Integrated surveillance, sensors, and C4ISR systems for upper level situation assessment. Units’ action capabilities, from distance as well as in direct contact. Continuous attacks with aim of breaking adversaries’ cohesion.
The simulation model of the armoured battalion swarming [21, 22, 24, 25] is discrete and dynamic, oriented to events. In the model, system activities are represented by pure time delays. The moving entities in the model are: units of the battalion (AMP-i, i=1, 2…N), threat/target units and messages of the C4ISR system. The simulation goal has been to explore impact of the variable defended territory occupancy density by the armoured battalion to success of its swarming. It has been achieved by changing the dimensions of the territory in experiments, along with retaining fixed number of AMPs in the group. In the simulation, the group of the armoured battalion size has been considered, consisting of 43 armed mobile platforms (tanks, armoured personnel carriers, etc.). The armed mobile platforms of the battalion get information of the threat/target units and other AMPs of the group motion in time expiring intervals Δt, and give reports about their own current positions. Based on that information, the armed mobile platforms, AMP-i, direct themselves toward threat/target unit, with the goal to reach, as soon as possible, the position enabling them to perform successful swarming, for the sake of destroying, disabling, or preventing the adversary in accomplishment of its mission. The threat/target unit is accomplishing its own mission and, contrary to AMP-i, has no access to information of the C4ISR system, so its primary goal is to fulfil its own task, which has been represented by motion on given trajectory between points A and B in the model, according to functional dependencies of its coordinates of time, xt/t(t) and yt/t(t). When the period of expiration elapses and C4ISR system dispatches the report of the new threat/target position (t = Δt), threat/target has moved to its new position, T (Δt). Until then, AMP-i have moved to their new positions, 1(Δt), 2(Δt), 3(Δt) and 4(Δt), following the directions from the previous time interval, directed their velocity vectors towards new position of the threat/target, and then the process continues. In order that individual swarming participating AMP could act upon T/T unit, the following must be fulfilled: a. AMP-i must dispose of the main weapon MW-i, compatible with the adversary. b. The distance between AMP-i and the adversary unit j must be in the main weapon MW-i range limit, i.e.: Dij = ( y j (t ) − yi (t )) 2 + ( x j (t ) − xi (t )) 2 ≤ DMW −i
(5)
c. The a. i b. conditions must be satisfied by enough other AMPs of the group, so that their total cumulative effect on threat/target, KUj should be equal or greater than critical threshold of the multiple AMPs cumulative effect, PKUj, specific to threat/target unit Pj, i.e.:
N
KU j = ∑ Aij ⋅ K ij ⋅ U ij ≥ PKU j
(6)
i =1
where: Aij is the assignment coefficient (0/1), intended to assignment of the P-j threat/target to AMP-i in the multitarget swarming models, Kij is the main weapon MW-i compatibility coefficient with the P-j threat/target (0/1) and Uij is the possible effect of the main weapon MW-i on the P-j threat/target. T/T-1 (10 AMPs)
T/T-2 (20 AMPs)
T/T-1 (10 AMPs)
T/T-3 (30 AMPs)
100 90 80 70 60 50 40 30 20 10 0
T/T-2 (20 AMPs)
T/T-3 (30 AMPs)
pssw [%]
pssw [%]
100 90 80 70 60 50 40 30 20 10 0
0
10
20
30
40
50
60 2
Defended territory area [km ]
70
0
1
2
3
4
5
6
7
8
Territory occupance density [AMP/km2]
Fig.7 Successful swarming probability, function of Fig.8 Successful swarming probability, function of defended territory area defended territory occupancy Three kinds of threat/targets, against which 10, 20 or 30 AMPs, with fulfilled aforementioned conditions, can accomplish successful swarming, have been considered in the model. The characterristic results of the simulation have been presented in the figures 7 and 8.
6. CONCLUSION The research results achieved so far could be used for planning of armoured and mechanized units in the territory defense. Provided the knowledge of the characteristics of target/threaths, the achievement of appropriate density, i.e. number of AMPs per unit of the defended territory area, would result in certain level of the successful issue probability of combat activities using the swarming tactics. The AMP group swarming simulator realized so far is limited to the case of a single threat/target unit simultaneous occurrence. That limitation is not a problem when relatively smaller AMP groups, which are often engaged in combat action against one serious threat/target, are considered. However, even an armoured battalion, as the basic tactical unit, has opportunities to apply swarming simultaneously against 2, 3 and even more different threats/targets. Besides obvious quantitative increasing of the simulator capabilities, this imposes some new issues related to target selection, priorities, AMPs compatibilities with targets and the capabilities of the group for the self-organizing in such situations. Therefore, the algorithm should be enhanced in further research, so that the swarming of the AMP group against multiple threats/targets, being simultaneously in the defended territory, could be simulated.
REFERENCES [1] Arquilla J., Ronfeldt D., 1999. Swarming and the Future of Conflict, Rand Corporation, Santa Monica, CA, USA. [2] Edwards S.J.A., 2005. Swarming and the Future Warfare, Rand Corporation, Santa Monica, CA, USA. [3] Janković R., Nikolić N., 2009, Simulation in Research of Modern Warfare Physiognomy, Strategic Research Institute, Belgrade, Serbia. [4] Janković R., 2003. Computer Simulation of Two Armed Mobile Platforms, Scientific-Technical Review, Vol. 54, No. 1, pp.3-16. [5] Janković R., 2011. Computer Simulation of an Armoured Battalion Swarming, Defence Science Journal, Vol. 61, No. 1, pp.36-43. [6] Janković R., Research of Some Tank Modernization Aspects to Armoured Battalion Swarming Effectiveness, 2007. Proceedings of the 2nd Scientific-Professional Conference on Defence Technologies (OTEH 2007), Belgrade, Serbia, pp. 94-100.
