Distributed Service-Based Cooperation in Aerial/Ground Robot Teams Applied to Fire Detection and Extinguishing Missions

Abstract

This paper presents a system for the coordination of aerial and ground robots for applications such as surveillance and intervention in emergency management. The overall system architecture is described. An important part for the coordination between robots is the task allocation strategy. A distributed market-based algorithm, called S + T, has been developed to solve the multi-robot task allocation problem in applications that require cooperation among the robots to accomplish all the tasks. Using this algorithm, robots can provide transport and communication relay services dynamically to other robots during the missions. Moreover, the paper presents a demonstration with a team of heterogeneous robots (aerial and ground) cooperating in a mission of fire detection and extinguishing.

Environmental Monitoring System by Using Unmanned Aerial Vehicle

“…Another similar system, based on coordination of aerial and ground robots, has been presented in [19]. The system is designed for surveillance and intervention in emergency management.…”

“…The authors argued that task allocation strategy is an important part for this type of application. To solve this issue, a distributed market-based algorithm called S + T has been presented in [19]. By using this algorithm the robots can provide transportation and communication relay services dynamically to other robots during a mission.…”

A Multi-rotor System for the Collection and Analysis of Measurements to Evaluate and Spatially Demonstrate the Pollutants in the Air

“…There are several well-known methods [6,[10][11][12][13][14][15] that exist for large-area pollution detection, but the measurement of the exact rate of pollution in smaller areas (e.g., industrial zones or disasteraffected areas of a few square kilometres), as well as the numerical expression of changes therein, remain an unsolved problem.…”

“…There are several well-known methods [6,[10][11][12][13][14][15] that exist for large-area pollution detection, but the measurement of the exact rate of pollution in smaller areas (e.g., industrial zones or disasteraffected areas of a few square kilometres), as well as the numerical expression of changes therein, remain an unsolved problem.The main feature of the developed device is that it can provide exact measurements for a small area at low altitudes (under 500m AGL (Above Ground Level)), and it is also capable of periodical measurements between 0.0001-10 Hz. With the data analysis provided by the system, we can obtain immediate information about the pollution of the given area, as well as changes in pollution levels over time.…”

Local Heuristics Analysis in the Automatic Computation of Assembly Sequences for Building Structures with Multiple Aerial Robots

“…Other works [2,15,20,9] have addressed cooperation in teams of aerial robots for multi-purpose missions. However, in those papers the dexterous manipulation with aerial robots was not present.…”