Coordinated Control of UAVs for Human-Centered Active Sensing of Wildfires

Fighting wildfires is a precarious task, imperiling the lives of engaging firefighters and those who reside in the fire's path. Firefighters need online and dynamic observation of the firefront to anticipate a wildfire's unknown characteristics, such as size, scale, and propagation velocity, and to plan accordingly. In this paper, we propose a distributed control framework to coordinate a team of unmanned aerial vehicles (UAVs) for a human-centered active sensing of wildfires. We develop a dual-criterion objective function based on Kalman uncertainty residual propagation and weighted multi-agent consensus protocol, which enables the UAVs to actively infer the wildfire dynamics and parameters, track and monitor the fire transition, and safely manage human firefighters on the ground using acquired information. We evaluate our approach relative to prior work, showing significant improvements by reducing the environment's cumulative uncertainty residual by more than $10^2$ and $10^5$ times in firefront coverage performance to support human-robot teaming for firefighting. We also demonstrate our method on physical robots in a mock firefighting exercise

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

From Pillars to AI Technology-Based Forest Fire Protection Systems

The importance of forest environment in the perspective of the biodiversity as well as from the economic resources which forests enclose, is more than evident. Any threat posed to this critical component of the environment should be identified and attacked through the use of the most efficient available technological means. Early warning and immediate response to a fire event are critical in avoiding great environmental damages. Fire risk assessment, reliable detection and localization of fire as well as motion planning, constitute the most vital ingredients of a fire protection system. In this chapter, we review the evolution of the forest fire protection systems and emphasize on open issues and the improvements that can be achieved using artificial intelligence technology. We start our tour from the pillars which were for a long time period, the only possible method to oversee the forest fires. Then, we will proceed to the exploration of early AI systems and will end-up with nowadays systems that might receive multimodal data from satellites, optical and thermal sensors, smart phones and UAVs and use techniques that cover the spectrum from early signal processing algorithms to latest deep learning-based ones to achieving the ultimate goal

Learning-based wildfire tracking with unmanned aerial vehicles

This project attempts to design a path planning algorithm for a group of unmanned aerial vehicles (UAVs) to track multiple spreading wildfire zones on a wildland. Due to the physical limitations of UAVs, the wildland is partially observable. Thus, the fire spreading is difficult to model. An online training regression neural network using real-time UAV observation data is implemented for fire front positions prediction. The wildfire tracking with UAVs path planning algorithm is proposed by Q-learning. Various practical factors are considered by designing an appropriate cost function which can describe the tracking problem, such as importance of the moving targets, field of view of UAVs, spreading speed of fire zones, collision avoidance between UAVs, obstacle avoidance, and maximum information collection. To improve the computation efficiency, a vertices-based fire line feature extraction is used to reduce the fire line targets. Simulation results under various wind conditions validate the fire prediction accuracy and UAV tracking performance.Includes bibliographical references

Wind Estimation and Control of Unmanned Aerial Vehicles with Application to Forest Fire Surveillance

In recent years, there has been an increasing interest in the application of unmanned aerial vehicles in forest fire monitoring and detection systems. Armed with unmanned aerial vehicles (UAVs), firefighters on the ground can get a bird's-eye view of the terrain, respond to forest fires quickly, distribute resources, and ultimately save lives and properties. In practice, wind behaviors have significant impacts on both the performance of UAV and forest fire situations. However, current wind measurement and estimation relies on data gathered from ground weather stations that are often located several kilometers away from the forest fire regions. As a result, it is challenging to maintain the performance and assess the forest fire situations properly with the obtained wind information. This thesis investigates the problems of the wind estimation and control of unmanned aerial vehicles with application to forest fire surveillance. To develop UAVs as remote wind sensing platforms, a two-stage particle filter-based approach is proposed to estimate winds from quadrotor motion. Based on the estimated wind information, an active wind rejection control strategy is designed to maintain the performance of a quadrotor UAV in the presence of unknown winds. Then, the active wind rejection control strategy is developed for the formation control of multiple UAVs to ensure their cooperative tracking capability. Finally, based on the wind data and fire observations collected by UAVs, a forest fire monitoring scheme is designed to accurately estimate the situation of wind-affected forest fires

Towards Data-Driven Operational Wildfire Spread Modeling: A Report of the NSF-Funded WIFIRE Workshop

This report presents a record of the discussions that took place during the workshop entitled “Towards Data-Driven Operational Wildfire Spread Modeling” held on January 12-13, 2015, at the University of California, San Diego. The workshop was organized as part of WIFIRE, a collaborative project sponsored by the National Science Foundation (NSF) between San Diego Supercomputer Center, Calit2's Qualcomm Institute and Jacobs School of Engineering at the University of California at San Diego (UCSD) and the Department of Fire Protection Engineering at the University of Maryland (UMD). The objective of WIFIRE is to build a cyberinfrastructure for real-time and data-driven simulation, prediction and visualization of wildfire behavior (see http://wifire.ucsd.edu). WIFIRE is funded by NSF Award #1331615 as part of the Interdisciplinary Research in Hazards and Disasters (Hazards SEES) program. The objectives of the WIFIRE workshop were: (1) to identify technical barriers and milestones that need to be overcome in order to develop validated data-driven wildfire spread models and make them operational; and (2) to bring together leading representatives of the wildfire research community, the geosciences community and the fire science community. The wildfire research community has relevant expertise on wildfire operations; the geosciences community has relevant expertise on large-scale effects in wildfires (e.g., the coupling with atmospheric phenomena); the fire science community has relevant expertise on flame-scale effects in wildfires (e.g., the response of the fire to changing local conditions). The workshop was organized around four main topical areas and corresponding breakout groups, including operational rate-of-spread models for wildfire spread, CFD models, wildfire data, and data assimilation (see Appendix A for a description of the WIFIRE workshop program). Our goal in this report is to document and share the substance and scope of the workshop discussions and to thereby invite the wider research community to support, engage in, and contribute to the general effort to develop operational data-driven tools for wildfire spread predictions.The National Science Foundation via Award #1331615 as part of the Interdisciplinary Research in Hazards and Disasters (Hazards SEES) program

Dynamic Data Driven Applications System Concept for Information Fusion

AbstractWe present a framework of Information Fusion (IF) using the Dynamic Data Driven Applications Systems (DDDAS) concept. Existing literature at the intersection of these two topics supports environmental modeling (e.g., terrain understanding) for context enhanced applications. Taking advantage of sensor models, statistical methods, and situation- specific spatio-temporal fusion products derived from wide area sensor networks, DDDAS demonstrates robust multi-scale and multi-resolution geographical terrain computations. We highlight the complementary nature of these seemingly parallel approaches and propose a more integrated analytical framework in the context of a cooperative multimodal sensing application. In particular, we use a Wide-Area Motion Imagery (WAMI) application to draw parallels and contrasts between IF and DDDAS systems that warrants an integrated perspective. This elementary work is aimed at triggering a sequence of deeper insightful research towards exploiting sparsely sampled piecewise dense WAMI measurements – an application where the challenges of big-data with regards to mathematical fusion relationships and high-performance computations remain significant and will persist. Dynamic data-driven adaptive computations are required to effectively handle the challenges with exponentially increasing data volume for advanced information fusion systems solutions such as simultaneous target tracking and identification