Cooperative Search, Reconnaissance, Surveillance

Joaquín, José; Arrue, Begoña C.; Ollero, A.

doi:10.1002/9780470686652.eae1134

Cited by 2 publications

(2 citation statements)

References 16 publications

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“…The use of multiple Unmanned Aerial Vehicles (UAVs) has recently gained more attention for tasks such as realtime monitoring, Search and Rescue (SAR), remote sensing, delivery of goods, precision agriculture, and infrastructure inspection [1]- [5]. In SAR settings, UAVs have been considered due to their manoeuvring capabilities (flying at various speeds, hovering, agile access to narrow spaces), making them suitable for missions that can be dangerous or difficult for human beings [6]- [10].…”

Section: Introductionmentioning

confidence: 99%

A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments

Xiaolong

Vanegas

Gonzalez

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of multiple UAVs are used. We propose a framework for a team of UAVs to cooperatively explore and find a target in complex GPS-denied environments with obstacles. The team of UAVs autonomously navigates, explores, detects, and finds the target in a cluttered environment with a known map. Examples of such environments include indoor scenarios, urban or natural canyons, caves, and tunnels, where the GPS signal is limited or blocked. The framework is based on a probabilistic decentralised Partially Observable Markov Decision Process which accounts for the uncertainties in sensing and the environment. The team can cooperate efficiently, with each UAV sharing only limited processed observations and their locations during the mission. The system is simulated using the Robotic Operating System and Gazebo. Performance of the system with an increasing number of UAVs in several indoor scenarios with obstacles is tested. Results indicate that the proposed multi-UAV system has improvements in terms of time-cost, the proportion of search area surveyed, as well as successful rates for search and rescue missions.

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