In this paper, we describe a system for combating real fires with sprayed liquid extinguishing agent using a team of multirotor UAVs. The system design relies on onboard sensors and operates without the need for human intervention throughout its complex mission, from its takeoff to landing. The core UAV platform can estimate its state, self-localize, navigate and locate and extinguishing fires. Thermal and RGB cameras are used, each with a specialized computer vision subsystem and are combined with planar LIDAR for 3D localization of fires on multistory building facades. The system conducts aerial firefighting with a software stack that addresses flight dynamics and sensor limitations and a liquid-spraying subsystem incorporating a rigidly-attached water nozzle. The approach presented in this paper was motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020) firefighting scenario, which focused on coordinated multi-UAV teams that can autonomously combat high-rise building fires. The MBZIRC series places particular emphasis on fast and reliable deployment of robots in realistic conditions. These contests promote development of real-world applications that are greatly needed by society, but which still exceed State-of-the-Art in the robotics community. To our knowledge, our system was the only MBZIRC 2020 contender to extinguish a facade fire successfully in autonomous mode without using an RTK-GNSS system. Our approach contributed to victory in the overall competition and we have now adapted it into an industrial prototype for a firefighting UAV. A video attachment to this paper is available at http://mrs.felk.cvut.cz/fr2020firechallenge-facadefires.

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For difference schemes the initial-boundary problem for quasi-linear parabolic-type equations, ’a priori weight estimates’ of the error have been found. These estimates show how much the accuracy of difference schemes near the boundary of a time rectangle is higher than in the middle of it. Sufficient conditions of smoothness of the coefficients and the right-hand side of the quasi-linear parabolic equation and the initial conditions have been found. These conditions ensure a correctness of these a priori estimates.

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A two-mass fuzzy control system is considered. For fuzzification process, classical both linear and nonlinear membership functions are used. To find optimal values of membership function's parameters, genetic algorithm is used. To take into account values of both output and intermediate parameters of the system, a penalty function is considered. Research is conducted for the case of speed control system and displacement control system. Obtained results are compared with the case of the system with classical, crisp controller.