전투용 무인수상정 군집 운용을 위한 통합 지휘통제 방안 연구

이우석¹ ; 유재관² ; 이주영³ ; 최봉완³^{, *}

1해군 소령/해군본부 2025년 관함식기획단 안내계획담당
2LIG넥스원 무인체계/로봇연구소장
3한남대학교 산업공학과 교수

A Study on Integrated Command and Control Methods for Combat Unmanned Surface Vehicle Swarm Operations

Woo Seok Lee¹ ; Jae Kwan Ryu² ; Joo Young Lee³ ; Bong Wan Choi³^{, *}

1LCDR/Information planning officer, 2025 Naval Fleet Review Planning Group, ROK Navy HQ
2Head of Unmanned Systems/Robot R&D Center, LIG Nex1
3Professor, Dept. of Industrial & Management Engineering, Hannam University

Correspondence to: *Bong Wan Choi Dept. of Industrial & Management Engineering, Hannam University 70 Hannam-ro, Daedeok-gu, Daejeon, 34430, Republic of Korea Tel: +82-42-629-7989, +82-42-629-8530 Fax: +82-42-629-8533 E-mail: bwchoi721@hnu.kr

초록

본 논문은 전투용 무인수상정 군집 운용을 위한 통합지휘통제 방안을 제안한다. 3계층 지휘 구조와 이중 루프 의사결정 개념을 기반으로 실시간 위협평가 및 무장할당(threat evaluation and weapon assignment), 다중 에이전트 강화학습(multi-agent reinforcement learning) 기반 군집제어, 이중화 통신망, 설명 가능 인공지능(eXplainable AI) 기반의 인간-시스템 인터페이스를 유기적으로 통합한다. 이로써 미래 USV 운용의 군집성, 치명성을 극대화하는 실용적 C2 체계의 청사진을 제시한다.

Abstract

This study proposes an integrated command and control (C2) framework for the swarm operation of combat Unmanned Surface Vehicles (USVs). Based on a three-tier command structure and a dual-loop decision-making concept, the proposed framework organically integrates a real-time threat evaluation and weapon assignment (TEWA) algorithm, multi-agent reinforcement learning (MARL) for swarm control, a redundant communication network, and an eXplainable AI (XAI)-based human-machine interface. This blueprint offers a practical C2 system that maximizes the swarm capability and lethality of future USV operations.

Keywords:

USV Swarm, Integrated C2, Threat Evaluation and Weapon Assignment, Multi-agent Reinforcement Learning, Communication Redundancy, Human-in-the-Loop XAI

키워드:

무인수상정 군집, 통합지휘통제, 위협평가·무장할당, 다중 에이전트 강화학습, 통신망 이중화, 인간개입 설명가능 AI

Acknowledgments

이 논문은 국방기술진흥연구소와 LIG넥스원의 지원을 받아 한남대학교에서 수행된 연구임.

References

민승식 외, “유도로켓을 이용한 다수 USV 대응 전술 효과 분석,” 한국군사과학기술학회지, Vol. 23, No. 1, pp. 45-55, 2020.
이진성, 나종철, “해양 유·무인 복합작전을 위한 요구능력,” 해군과학기술학회지, Vol. 6, No. 3, pp. 308-313, 2023.
안상겸, 박동선, “해양 유·무인 복합전투체계 자율화 수준 연구,” 해군과학기술학회지, Vol. 6, No. 3, pp. 286-292, 2023.
최근하 외, “전장에서 설명가능한 인공지능(Military-XAI) : 군사적 적용 시나리오 연구”, 한국방위산업학회지, Vol. 30, No. 1, pp. 1-13, 2023.
이인석, “대류권 산란 통신의 군 활용 동향 및 발전방향,” 국방과학기술정보, Vol. 126, pp. 25-33, 2025.
강병철, “유사시 北함정에 자폭...군집 무인수상정 시연 현장,” 서울신문, 2024.10.10, https://www.seoul.co.kr/news/society/2024/10/10/20241010500138
김서연, “미국 AI로 싸우는 무인수상정... 국내 무인함정 솔루션 현황은,” 머니S, 2024년 10월 12일, https://www.moneys.co.kr/article/2024101108021321209
이우석, “한국형 통합 군사드론 체계의 발전을 위한 제언,” 합참지, Vol. 99, pp. 69-81, 2024.
이세준 외, “함정 전투체계의 다수 고속 표적에 대한 위협평가 및 무장할당 알고리즘 제안,” 해군과학기술학회지, Vol. 7, No. 1, pp. 66-71, 2024.
한종환, “러-우 전쟁 해양작전 교훈과 한국 해군의 전략·전력 발전에 대한 함의,” 국방연구, 제68권 2호, pp. 157-185, 2025.
현철 외, “시뮬레이션 연동형 TEWA 구조 모듈화 및 실시간 무기 배정 모델 제안,” 한국국방기술학회 논문지, Vol. 7, No. 2, pp. 30-37, 2025.
이우석 외, “시간 윈도우를 갖는 다모드 자원제약 프로젝트 스케줄링 문제를 이용한 미사일 할당,” 시스템엔지니어링학술지, Vol. 21, Special Issue, pp. 63-77, 2025.
W. Naeem and A. Masood, “Multiple Target TEWA Using Stable Marriage Algorithm,” Proceedings of ICIET, 2009.
Office of Naval Research, “The Future is Now: Navy’s Autonomous Swarmboats Can Overwhelm Adversaries,” ONR Press Release, 2014.
Michael Peck, “Autonomous Warships Get Smarter,” C4ISRNET, April 21, 2016. https://www.c4isrnet.com/unmanned/uas/2016/04/21/autonomous-warships-get-smarter/
Afshan Naseem et al., “Efficient Threat Evaluation and Weapon Assignment Using a 3-dimensional Stable Marriage Algorithm,” Journal of the Operational Research Society, vol.67, no.11, pp. 1484-1495, 2016.
Kelsey D. Atherton, “See China’s Massive Robot Boat Swarm in Action,” C4ISRNET, June 1, 2018. https://www.c4isrnet.com/unmanned/2018/06/01/see-chinas-massive-robot-boat-swarm-in-action/
Sigma Defense, “Sense, Make Sense & Act: The Sigma Defense Vision for JADC2,” Sigma Defense Blog, 2022. https://sigmadefense.com/blog/sense-make-sense-act-the-sigma-defense-vision-for-jadc2/
DAPRAtv, “Mosaic Warfare and Multi-domain Battle,” (Video) DAPRA, https://www.youtube.com/watch?v=33VAnIEjDgk
James McIntyre et al., “Integrating Maritime Autonomous Systems (MAS) into the Future Force: the UK MAPLE Architecture”, Engine as a Weapon International Symposium (EAAW), 2019.
A. Koulianos, A. Litke, and E. Varvarigos, “Blockchain Technology for Secure Communication and Formation Control in Smart Drone Swarms,” Future Internet, Vol. 15, No. 10, p. 344, 2023.
Shrudhi R.S. et al., “Control and Coordination of a Swarm of Unmanned Surface Vehicles Using Deep Reinforcement Learning,” arXiv preprint arXiv:2304.08189, , 2023.
B. Dresp-Langley, “The Weaponization of Artificial Intelligence: What the Public Needs to be Aware of,” Frontiers in Artificial Intelligence, Vol.6, 1154184, 2023.
Yu Changdong et al., “Research on Game Confrontation of USV Swarm Based on Multi-Agent Deep Reinforcement Learning”, Journal of Unmanned Undersea Systems, Vol.32, No.1, pp. 79-86, 2024.
Chris Bishop, “When Satellites Aren’t Enough: How Troposcatter Technology Keeps Troops Connected”, Ultra Intelligence & Communications Blog, June 3, 2024. https://www.ultra-ic.com/blog/when-satellites-aren-t-enough-how-troposcatter-technology-keeps-troops-connected/
Hu, et al., “Multi-USV Cooperative Target Assignment via Reinforcement Learning”, IEEE Trans. Cybernetics, 2024.
Cambridge Pixel, “Threat Evaluation and Weapon Assignment(TEWA) Module” Product Whitepaper, 2025.
Chip Downing, “JADC2: Accelerating the OODA Loop With AI and Autonomy,” RTI Blog, 2023. https://www.rti.com/blog/jadc2-the-ooda-loop
Nicholas Coffin, “U.S. Navy and Japanese Maritime Self-defense Forces Conduct a Joint Mine Warfare Exercise (MINEX 2JA 2025),” Commander, U.S. 7th Fleet, 2025. https://www.c7f.navy.mil/Media/News/Display/Article/4266886/us-navy-and-japanese-maritime-self-defense-forces-conduct-a-joint-mine-warfare/
Y. Inaba, “Mogami-class Frigate Leads JMSDF’s First-ever Mine Disposal Drill Using USV,” Naval News, 2025. https://www.navalnews.com/naval-news/2025/06/mogami-class-frigate-leads-jmsdfs-first-ever-mine-disposal-drill-using-usv/
U.S. Department of Defense, Summary of the Joint All-domain Command & Control (JADC2) Strategy, 2022.
Giacomo Persi Paoli et al., “Table-Top Exercises on the Human Element and Autonomous Weapons Systems: Summary Report,” United Nations Institute for Disarmament Research, Geneva, 2023.
U.S. Department of Defense, DoD Directive 3000.09: Autonomy in Weapon Systems, Jan. 25, 2023.