A distributed architecture for a robotic platform with aerial sensor transportation and self‐deployment capabilities

Abstract

This paper presents the architecture developed in the framework of the AWARE project for the autonomous distributed cooperation between unmanned aerial vehicles (UAVs), wireless sensor/actuator networks and ground camera networks. One of the main goals was the demonstration of useful actuation capabilities involving multiple ground and aerial robots in the context of civil applications. A novel characteristic is the demonstration in field experiments of the transportation and deployment of the same load with single/multiple autonomous aerial vehicles.The architecture is endowed with different modules that solve the usual problems that arise during the execution of multi-purpose missions, such as task allocation, conflict resolution, task decomposition and sensor data fusion. The approach had to satisfy two main requirements: robustness for the operation in disaster management scenarios and easy integration of different autonomous vehicles. The former specification led to a distributed design and the latter was tackled by imposing several requirements on the execution capabilities of the vehicles to be integrated in the platform.

Environmental Monitoring System by Using Unmanned Aerial Vehicle

“…An autonomous distributed surveillance system, consisting of UAVs, wireless sensor/actuator networks, and ground camera networks, has been presented in [18]. The main goal of the system is to provide useful actuation capabilities involving multiple ground and aerial robots.…”

Autonomous transportation and deployment with aerial robots for search and rescue missions

“…The work presented in this section has been conducted within the framework of the The general objective of the project was the design, development and demonstration of a platform composed of heterogeneous systems, which are able to operate in a distributed manner in disaster management scenarios without pre-existing (or with damaged) infrastructure (Maza et al, 2011). Thus, the platform comprises self-deployment capabilities (in particular the autonomous transportation and deployment of different load types, like small sensors, cameras, communication equipment, etc.)…”

A formal model for planning and controlling search and rescue actions at sea

“…Systems with multiple UAVs present significant advantages in different applications by increasing efficiency, performance, and robustness (Alejo et al 2013, Maza et al 2011.…”

“…It is a known fact that UAVs can be controlled in two ways: at distance and by their previously set route. For the purpose of this paper, UAVs that fly according to their previously set route will be analyzed.Systems with multiple UAVs present significant advantages in different applications by increasing efficiency, performance, and robustness (Alejo et al 2013, Maza et al 2011.Some of the problems that need to be solved are: a) How to control the traffic in a way that UAVs moving in opposite directions make as few stops as possible during the passage through the cells in the space? b) How to resolve possible conflicts in case that more vehicles try to acquire the same cell at the same time?…”