Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume 65, Issue 1-4, Pages 533-548Publisher
SPRINGER
DOI: 10.1007/s10846-011-9560-x
Keywords
Forest fire fighting; UAS; Cooperative perception
Funding
- Spanish Research and Development Program [DPI2008-03847]
- CONET Network of Excellence [INFSO-ICT-224053]
- European Commission
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The paper presents an Unmanned Aircraft System (UAS), consisting of several aerial vehicles and a central station, for forest fire monitoring. Fire monitoring is defined as the computation in real-time of the evolution of the fire front shape and potentially other parameters related to the fire propagation, and is very important for forest fire fighting. The paper shows how an UAS can automatically obtain this information by means of on-board infrared or visual cameras. Moreover, it is shown how multiple aerial vehicles can collaborate in this application, allowing to cover bigger areas or to obtain complementary views of a fire. The paper presents results obtained in experiments considering actual controlled forest fires in quasi-operational conditions, involving a fleet of three vehicles, two autonomous helicopters and one blimp.
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