An Energy-Aware Real-Time Search Approach for Cooperative Patrolling Missions with Multi-UAVs

Cabreira, Tauã M.; Kappel, Kristofer S.; Ferreira, Paulo R.; Brisolara, Lisane

doi:10.1109/lars/sbr/wre.2018.00054

Cited by 6 publications

(9 citation statements)

References 12 publications

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“…The resources (mission and agent parameters) of interest are summarized in Table 1. The choice of the parameters is in line with the literature (Cabreira et al, 2018(Cabreira et al, , 2019Bevacqua et al, 2015;Merino et al, 2010;Ingle, 2011). The resource parameters are the main limitation of applying UAVs to the search problems (Cabreira et al, 2018(Cabreira et al, , 2019Ghamry and Zhang, 2016;Jensen-Nau et al, 2021;Kanistras et al, 2013;Sharma and Kumar, 2015;Zhou et al, 2020;Alyassi et al, 2021;Rebolledo et al, 2021;Ryoo et al, 2010).…”

Section: Defining Resource Constraintsmentioning

confidence: 73%

“…The choice of the parameters is in line with the literature (Cabreira et al, 2018(Cabreira et al, , 2019Bevacqua et al, 2015;Merino et al, 2010;Ingle, 2011). The resource parameters are the main limitation of applying UAVs to the search problems (Cabreira et al, 2018(Cabreira et al, , 2019Ghamry and Zhang, 2016;Jensen-Nau et al, 2021;Kanistras et al, 2013;Sharma and Kumar, 2015;Zhou et al, 2020;Alyassi et al, 2021;Rebolledo et al, 2021;Ryoo et al, 2010). The limitations in these parameters depend on the UAVs' capability as described by the United Kingdom Ministry of Defence UAVs classification 2 of Table 2.…”

Section: Defining Resource Constraintsmentioning

confidence: 73%

“…Common MAP search methods will either assign fixed paths for each agent in the team or enable individual agents to adapt their actions to the environment and can operate in a centralized or decentralized manner (Cabreira et al, 2019(Cabreira et al, , 2018Corte et al, 2020;Merino et al, 2006Merino et al, , 2010Ghamry and Zhang, 2016). These are discussed further in Section 2.…”

Section: Introductionmentioning

confidence: 99%

“…These are discussed further in Section 2. There are also "hybrid" methods that enable agents to use a combination of fixed and adaptive protocols (Chawla and Duhan, 2018;Cabreira et al, 2019Cabreira et al, , 2018Jensen-Nau et al, 2021). Given the constraints imposed by our motivating example, we contribute to the set of hybrid methods, with an emphasis on supporting search under resource constraints.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

DIMASS: A Delaunay-Inspired, Hybrid Approach to a Team of Agents Search Strategy

Yusuf

Baber²

2022

Front. Robot. AI

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This article describes an approach for multiagent search planning for a team of agents. A team of UAVs tasked to conduct a forest fire search was selected as the use case, although solutions are applicable to other domains. Fixed-path (e.g., parallel track) methods for multiagent search can produce predictable and structured paths, with the main limitation being poor management of agents’ resources and limited adaptability (i.e., based on predefined geometric paths, e.g., parallel track, expanding square, etc.). On the other hand, pseudorandom methods allow agents to generate well-separated paths; but methods can be computationally expensive and can result in a lack of coordination of agents’ activities. We present a hybrid solution that exploits the complementary strengths of fixed-pattern and pseudorandom methods, i.e., an approach that is resource-efficient, predictable, adaptable, and scalable. Our approach evolved from the Delaunay triangulation of systematically selected waypoints to allocate agents to explore a specific region while optimizing a given set of mission constraints. We implement our approach in a simulation environment, comparing the performance of the proposed algorithm with fixed-path and pseudorandom baselines. Results proved agents’ resource utilization, predictability, scalability, and adaptability of the developed path. We also demonstrate the proposed algorithm’s application on real UAVs.

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Section: Defining Resource Constraintsmentioning

confidence: 73%

Section: Defining Resource Constraintsmentioning

confidence: 73%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

DIMASS: A Delaunay-Inspired, Hybrid Approach to a Team of Agents Search Strategy

Yusuf

Baber²

2022

Front. Robot. AI

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“…Figure 2.2.2A -A Mavic 2 Pro used in search and rescue operations [72] remotely locate specific targets or a missing individual in large areas such as an open field, a forest or a lake, etc. while at the same time cutting down search times significantly compared to a traditional on-foot search and rescue option [72][73][74].…”

Section: Other Types Of Response Robotsmentioning

confidence: 99%

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

Chau¹

2021

Preprint

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<div>Improvised Explosive Devices (IEDs) have been developed over the years across many nations around the world. IEDs used by terrorist actions and in warfare cause devastating death, injuries and damage. To protect the public, many emergency responders have to risk their lives by performing extremely hazardous tasks such as interacting with suspected IEDs. To prevent the emergency response teams from being negatively impacted by IEDs, many different kinds of response robots have been deployed in many locations worldwide – allowing first responders a safe way to interact with these menaces from a distance. This thesis contributes to the understanding of using robot arms with a Leader–Follower (LF) approach to help humans with performing dexterous operations like those which are inevitably required for manipulating IEDs remotely. The LF approach allows operators to remotely manipulate a robot arm without putting operators’ lives in danger. By physically controlling one arm from a safe distance, operators can successfully copy its movements to a second arm. As a result, we argue, this approach can be helpful for minimizing operator risk when interacting with suspicious devices while at the same time facilitating more intuitive remote control.</div>

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Strategies for Energy-Aware Multi-agent Continuous Cooperative Patrolling Problems Subject to Requirements

Sugawara

2019

PRIMA 2019: Principles and Practice of Multi-Agent Systems

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An Energy-Aware Real-Time Search Approach for Cooperative Patrolling Missions with Multi-UAVs

Cited by 6 publications

References 12 publications

DIMASS: A Delaunay-Inspired, Hybrid Approach to a Team of Agents Search Strategy

DIMASS: A Delaunay-Inspired, Hybrid Approach to a Team of Agents Search Strategy

Deployment Of Robot Arms With A Leader-Follower Approach For Bomb Disposal

Strategies for Energy-Aware Multi-agent Continuous Cooperative Patrolling Problems Subject to Requirements

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