Firemen monitoring with multiple UAVs for search and rescue missions

Maza, Iván; Caballero, Fernando; Capitán, Jesús; Martinez-de-Dios, J. R.; Ollero, A.

doi:10.1109/ssrr.2010.5981565

Cited by 21 publications

(16 citation statements)

References 12 publications

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“…Swarms of UAVs have many civil applications. For instance, they are used to help firemen in the case of large forest fires [20], to spray pesticides on crops [10], or to survey points of interest [17] or AoIs [15].…”

Section: A Applications Of Multi-uav Systemsmentioning

confidence: 99%

A Mobility Model Based on Improved Artificial Potential Fields for Swarms of UAVs

Falomir

Chaumette

Guerrini

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A combination of several autonomous UAVs can be used to perform collaborative tasks. Such a combination is referred to as a swarm of drones. The use of multiple platforms can extend the system global capacities thanks to the resulting variety of embedded sensors and to information sharing. In this case, path planning and thus obstacles avoidance is still a major task. To deal with this issue, mobility models have to be implemented. Our contribution presented in this paper is a mobility model for swarms of UAVs based on the Artificial Potential Fields (APF) principle. In our model, the involved UAVs collaborate by sharing data about the obstacles that they detected. By doing so, a UAV which is not close enough to an obstacle to detect it thanks to its own sensors will still have the proper data to take this obstacle into account in its path planning. To validate our mobility strategies with realistic constraints we simulate the performances of existing sensors and transmitters, and consider real-world environment.

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Section: A Applications Of Multi-uav Systemsmentioning

confidence: 99%

A Mobility Model Based on Improved Artificial Potential Fields for Swarms of UAVs

Falomir

Chaumette

Guerrini

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Here θ is the pitch angle, φ the roll angle and ψ is the yaw angle according to Figure 2. The angular velocity vector expressed in body frame is P for the roll rate, Q is the pitch rate and R is the yaw rate; and it is related to the Earth frame by the transformation given by the kinematics equation (1).…”

Section: A Ahrs Kinematic Modelmentioning

confidence: 99%

“…T HERE is growing interest in autonomous vehicles. These vehicles are suitable for mobile missions, specially in vigilance, monitoring and inspection scenarios [1], [2]. Be it ground, marine or aerial, controlling an autonomous vehicle needs some knowledge on its attitude angles [3]- [5].…”

Section: Introductionmentioning

confidence: 99%

UAV Attitude Estimation Using Unscented Kalman Filter and TRIAD

Marina

Pereda

Girón-Sierra

et al. 2012

IEEE Trans. Ind. Electron.

192

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A main problem in autonomous vehicles in general, and in Unmanned Aerial Vehicles (UAVs) in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an Attitude Heading Reference System (AHRS) based on the Unscented Kalman Filter (UKF) using the Three Axis Attitude Determination (TRIAD) algorithm as the observation model. The performance of the method is assessed through simulations and compared to an AHRS based on the Extended Kalman Filter (EKF). The paper presents field experiment results using a real fixed-wing UAV. The results show good real-time performance with low computational cost in a microcontroller.

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“…Descomposición de tareas complejas en tareas elementales ejecutables por el UAV directamente (módulo de descomposición de planes). Se han desarrollado algoritmos que permiten descomponer distintos tipos de tareas, tales como la vigilancia de una zona (Maza and Ollero, 2007) o la monitorización de un objeto (Maza et al, 2010a).…”

Section: Arquitectura Para La Cooperación Entre Uavsunclassified

“…En las misiones de confirmación y monitorización de incendios, la WSN se encargaba de generar las alarmas iniciales mediante sensores de humo y de temperatura. Estos métodos se validaron con buenas tasas de detección y de rechazo de falsos positivos (Maza et al, 2010a(Maza et al, , 2011b. Por otro lado, en las pruebas de seguimiento de bomberos, los nodos estáticos tomaban medidas de potencia radio recibida (RSSI) del nodo móvil alojado en el vestuario del bombero.…”

Section: Red Inalámbrica De Sensores En Tierraunclassified

Proyecto AWARE. Integración de Vehículos Aéreos no Tripulados con Redes Inalámbricas de Sensores y Actuadores

Ollero

Maza

Rodriguez-Castaño

et al. 2012

Revista Iberoamericana de Automática e Informática Industrial R

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En este artículo se resumen los resultados obtenidos en el proyecto AWARE coordinado por el Grupo de Robótica Visión y Control (GRVC) de la Universidad de Sevilla y financiado por la Comisión Europea en el VI Programa Marco (IST-2006-33579). El artículo describe brevemente la arquitectura desarrollada para la cooperación autónoma descentralizada entre vehículos aéreos no tripulados, redes inalámbricas de sensores/actuadores y redes de cámaras en tierra. Todo el desarrollo fue validado mediante experimentos de campo con helicópteros equipados con dispositivos heterogéneos tales como cámaras visuales y de infrarrojos, e instrumentos para el transporte y despliegue de sensores y otras cargas.

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Firemen monitoring with multiple UAVs for search and rescue missions

Cited by 21 publications

References 12 publications

A Mobility Model Based on Improved Artificial Potential Fields for Swarms of UAVs

A Mobility Model Based on Improved Artificial Potential Fields for Swarms of UAVs

UAV Attitude Estimation Using Unscented Kalman Filter and TRIAD

Proyecto AWARE. Integración de Vehículos Aéreos no Tripulados con Redes Inalámbricas de Sensores y Actuadores

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