Supporting wilderness search and rescue using a camera‐equipped mini UAV

Abstract

Wilderness Search and Rescue ͑WiSAR͒ entails searching over large regions in often rugged remote areas. Because of the large regions and potentially limited mobility of ground searchers, WiSAR is an ideal application for using small ͑human-packable͒ unmanned aerial vehicles ͑UAVs͒ to provide aerial imagery of the search region. This paper presents a brief analysis of the WiSAR problem with emphasis on practical aspects of visual-based aerial search. As part of this analysis, we present and analyze a generalized contour search algorithm, and relate this search to existing coverage searches. Extending beyond laboratory analysis, lessons from field trials with search and rescue personnel indicated the immediate need to improve two aspects of UAV-enabled search: How video information is presented to searchers and how UAV technology is integrated into existing WiSAR teams. In response to the first need, three computer vision algorithms for improving video display presentation are compared; results indicate that constructing temporally localized image mosaics is more useful than stabilizing video imagery. In response to the second need, a goal-directed task analysis of the WiSAR domain was conducted and combined with field observations to identify operational paradigms and field tactics for coordinating the UAV operator, the payload operator, the mission manager, and ground searchers.

Search and pursuit-evasion in mobile robotics

“…Practical implementation of search algorithms has been demonstrated in the wilderness search and rescue domain. Goodrich et al (2008) provided an extensive experimental analysis of UAV-enabled search with vision, which includes field trials with search and rescue operators. They utilized a small and light fixed wing UAV equipped with autopilot, GPS, and a video camera on a gimbal mount.…”

Modeling UASs for Role Fusion and Human Machine Interface Optimization

“…Research has shown that UASs could potentially be used to facilitate this work. Goodrich et al tested the effectiveness of these types of operations [1]. A key outcome of these field tests is the speculation that effectiveness could be enhanced if the roles of the UAV operator and video operator were combined.…”

“…Most existing Unmanned Aerial Systems (UASs) require two or more human operators [1,2]. Standard UAS practice is to have one human to control the aerial vehicle and another to control the camera or other payloads.…”

“…Human roles often include vehicle operators, payload experts, and mission managers [1][2][3]. As a step toward reducing the number of humans required, it is desirable to reduce operator workload through effective distributed control, augmented autonomy, and intelligent user interfaces.…”

Autonomous transportation and deployment with aerial robots for search and rescue missions

“…Urban search and rescue (USAR) has been the most studied form of SAR in the robotics research community (Birk and Carpin, 2006;Gage et al, 2004;Poppinga et al, 2008;Murphy and Stover, 2008;Micire, 2008;Arai et al, 2008) and has become familiar as recent natural and man-made disasters have made the news the world over. On the opposite end of the spectrum, wilderness search and rescue (WiSAR) often involves only few victims with a large geographic search region (Goodrich et al, 2008).…”