Experimental Implementation and Verification of Scalar Field Ridge, Trench, and Saddle Point Maneuvers Using Multirobot Adaptive Navigation

McDonald, Robert T.; Kitts, Christopher; Neumann, Michael

doi:10.1109/access.2019.2917120

Cited by 4 publications

(1 citation statement)

References 33 publications

(34 reference statements)

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“…The research in this area may be highly technical when the use of sensors and robots is considered to aid evacuees in finding exits in a highly-disorganised emergency environment [1][2][3]. It also needs to dig deeply into human behaviour due to fear and panic.…”

Section: Introductionmentioning

confidence: 99%

A Survey of Algorithms and Systems for Evacuating People in Confined Spaces

Gelenbe

2019

Electronics

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The frequency, destruction and costs of natural and human-made disasters in modern highly-populated societies have resulted in research on emergency evacuation and wayfinding, which has drawn considerable attention. The subject is now a multidisciplinary area of research where information and communication technologies (ICT), and in particular the Internet of Things (IoT), have a significant impact on sensing and computing dynamic reactions that mitigate or prevent the worst outcomes of disasters. This paper offers state-of-the-art knowledge in this area so as to share ongoing research results, identify the research gaps and address the need for future research. We present a comprehensive review of research on emergency evacuation and wayfinding, focusing on the algorithmic and system design aspects. Starting from the history of emergency management research, we identify the emerging challenges concerning system optimisation, evacuee behaviour optimisation and data analysis, and the additional energy consumption by ICT equipment that operates the emergency management infrastructure.

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Section: Introductionmentioning

confidence: 99%

A Survey of Algorithms and Systems for Evacuating People in Confined Spaces

Gelenbe

2019

Electronics

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Multiple UAV Adaptive Navigation for Three-Dimensional Scalar Fields

Lee¹,

Kitts

Neumann

et al. 2021

IEEE Access

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Adaptive Navigation (AN) control strategies allow an agent to autonomously alter its trajectory based on realtime measurements of the environment. Compared to conventional navigation methods, these techniques can reduce required time and energy to explore scalar characteristics of unknown and dynamic regions of interest (e.g., temperature, concentration level). Multiple Uncrewed Aerial Vehicle (UAV) approaches to AN can improve performance by exploiting synchronized spatially-dispersed measurements to generate realtime information regarding the structure of the local scalar field, which is then used to inform navigation decisions. This article presents initial results of a comprehensive program to develop, verify, and experimentally implement mission-level AN capabilities in three-dimensional (3D) space using our unique multilayer control architecture for groups of vehicles. Using our flexible formation control system, we build upon our prior 2D AN work and provide new contributions to 3D scalar field AN by a) demonstrating a wide range of 3D AN capabilities using a unified, multilayer control architecture, b) extending multivehicle 2D AN control primitives to navigation in 3D scalar fields, and c) introducing statebased sequencing of these primitive AN functions to execute 3D mission-level capabilities such as isosurface mapping and plume following. We verify functionality using high-fidelity simulations of multicopter drone clusters, accounting for vehicle dynamics, outdoor wind gust disturbances, position sensor inaccuracy, and scalar field sensor noise. This paper presents the multilayer architecture for multivehicle formation control, the 3D AN control primitives, the sequencing approaches for specific mission-level capabilities, and simulation results that demonstrate these functions.

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