期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 50, 期 4, 页码 1537-1548出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2018.2815988
关键词
Mathematical model; Unmanned aerial vehicles; Robot sensing systems; Decentralized control; Task analysis; Color; Distributed unmanned aerial vehicle (UAV) control; dynamic tracking; networked robots
资金
- National Aeronautics and Space Administration through the Nevada NASA Research Infrastructure Development Seed Grant [NNX15AI02H]
- National Science Foundation [IIS-1528137]
Wild-land fire fighting is a hazardous job. A key task for firefighters is to observe the fire front to chart the progress of the fire and areas that will likely spread next. Lack of information of the fire front causes many accidents. Using unmanned aerial vehicles (UAVs) to cover wildfire is promising because it can replace humans in hazardous fire tracking and significantly reduce operation costs. In this paper, we propose a distributed control framework designed for a team of UAVs that can closely monitor a wildfire in open space, and precisely track its development. The UAV team, designed for flexible deployment, can effectively avoid in-flight collisions and cooperate well with neighbors. They can maintain a certain height level to the ground for safe flight above fire. Experimental results are conducted to demonstrate the capabilities of the UAV team in covering a spreading wildfire.
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