Coordinated Search with a Swarm of UAVs

Waharte, Sonia; Trigoni, Niki; Julier, Simon

doi:10.1109/sahcnw.2009.5172925

Cited by 90 publications

(37 citation statements)

References 5 publications

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“…CLOSE-SEARCH focuses on performing SAR operations in unknown terrain [2], while SHERPA aims to specifically focus on performing such operations in alpine regions [4]. SUAAVE considers dangerous terrain, and emphasizes on time criticality in acquiring imagery for SAR operations [14]. On the other hand, RESCUECELL focuses on logistics and considerations for transport of a UAV system to disaster struck areas [3].…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Multi-UAV System for Search and Rescue

Scherer

Yahyanejad

Hayat

et al. 2015

Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use

248

124

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This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search and rescue missions. Multiple multicopters are coordinated using a distributed control system. The system is implemented in the Robot Operating System (ROS) and is capable of providing a real-time video stream from a UAV to one or more base stations using a wireless communications infrastructure. The system supports a heterogeneous set of UAVs and camera sensors. If necessary, an operator can interfere and reduce the autonomy. The system has been tested in an outdoor mission serving as a proof of concept. Some insights from these tests are described in the paper.

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Section: Introductionmentioning

confidence: 99%

An Autonomous Multi-UAV System for Search and Rescue

Scherer

Yahyanejad

Hayat

et al. 2015

Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use

248

124

View full text Add to dashboard Cite

show abstract

“…Cooperative control of multi-vehicle systems has been an active research area in recent years due to its broad spectrum of applications, such as surveillance and area exploration [1], load transportation [2], intelligent highways [3], formation control [4]- [6], etc. These systems are formed from a large number of dynamical subsystems, such as unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), unmanned underwater vehicles (UUVs), satellites or mobile robots.…”

Section: Introductionmentioning

confidence: 99%

LQR distributed cooperative control of a formation of low-speed experimental UAVs

Tomić

Milonidis

Halikias

2016

2016 UKACC 11th International Conference on Control (CONTROL)

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This is the accepted version of the paper.This version of the publication may differ from the final published version. Abstract-The paper presents a cooperative scheme for controlling arbitrary formations of low speed experimental UAVs based on a distributed LQR design methodology. Each UAV acts as an independent agent in the formation and its dynamics are described by a 6-DOF (degrees of freedom) nonlinear model. This is linearized for control design purposes around an operating point corresponding to straight flight conditions and simulated only for longitudinal motion. It is shown that the proposed controller stabilizes the overall formation and can control effectively the nonlinear multi-agent system. Also, it is shown via numerous simulations that the system provides reference tracking and that is robust to environmental disturbances such as nonuniform wind gusts acting on a formation of four UAVs and to the loss of communication between two neighbouring UAVs. Permanent repository link

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“…Nowadays, utilization of UAVs has become extremely popular thanks to automation and sensor technology advances that encourages many researchers to study the use of several collaborative UAVs in order to reduce the human intervention as much as possible ( [1], [2], [3], [4] and [5]). UAVs have to exchange information with each other (inside the swarm) and with the control station (outside the swarm) in order to meet the needs of applications such as «cooperative task allocation» [4], «path planning» [5] or «communication relaying» [6].…”

Section: Introductionmentioning

confidence: 99%