11,752 research outputs found
Immune-system inspired approach for decentralized multi-agent control
This paper contains the first steps towards the development of a fully decentralized system framework. The novel approach that has been taken is derived from the inherent properties of the immune system. An assessment of the proposed control architecture has been performed by comparison with a more typical approach under a search and suppress kind of mission for an unmanned fleet
Unmanned Aerial Systems for Wildland and Forest Fires
Wildfires represent an important natural risk causing economic losses, human
death and important environmental damage. In recent years, we witness an
increase in fire intensity and frequency. Research has been conducted towards
the development of dedicated solutions for wildland and forest fire assistance
and fighting. Systems were proposed for the remote detection and tracking of
fires. These systems have shown improvements in the area of efficient data
collection and fire characterization within small scale environments. However,
wildfires cover large areas making some of the proposed ground-based systems
unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial
Systems (UAS) were proposed. UAS have proven to be useful due to their
maneuverability, allowing for the implementation of remote sensing, allocation
strategies and task planning. They can provide a low-cost alternative for the
prevention, detection and real-time support of firefighting. In this paper we
review previous work related to the use of UAS in wildfires. Onboard sensor
instruments, fire perception algorithms and coordination strategies are
considered. In addition, we present some of the recent frameworks proposing the
use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more
efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at:
https://doi.org/10.3390/drones501001
Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
This paper addressed the challenge of exploring large, unknown, and unstructured
industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined
well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure
a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and
a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system
is that all the algorithms relied on the multi-resolution of the octomap for the world representation.
We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements
of the capability of the open-source system to run online and on-board the UAV in real-time. Our
approach is compared to different reference heuristics under this simulation environment showing
better performance in regards to the amount of explored space. With the proposed approach, the UAV
is able to explore 93% of the search space under 30 min, generating a path without repetition that
adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411
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