Cooperative forest fire surveillance using a team of small unmanned air vehicles
International Journal of Systems SciencePublished 15 May 2006
David W. Casbeer, Derek Kingston, Randal W. Beard, Timothy W. McLain
Citations530
SJR quartileQ1
SJR score1.34
SNIP1.14
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TL;DR
A decentralized multiple-UAV approach to monitoring the perimeter of a fire using a six degree-of-freedom dynamic model for the UAV and a numerical propagationmodel for the forest fire is developed.
Abstract
This research was supported by NASA under STTR contract No. NNA04AA19C to Scientific Systems Company, Inc (SSCI) and Brigham Young University (BYU), and by AFOSR grants F49620-01-1-0091 and F49620-02-C- 0094. The objective of this paper is to explore the feasibility of using multiple low-altitude, short endurance (LASE) unmanned air vehicles (UAVs) to cooperatively monitor and track the propagation of large forest fires. A real-time algorithm for tracking the perimeter of a fire with an on-board infrared sensor is developed. Using this algorithm, we develop a decentralized multiple-UAV approach to monitoring the perimeter of the fire. The UAVs are assumed to have limited communication and sensing range. The effectiveness of the approach is demonstrated in simulation using a 6 DOF dynamic model for the UAV and numerical propagation model for the forest fire. Salient features of the approach include the ability to monitor a changing fire perimeter, the ability to systematically add and remove UAVs from the team, and the ability to supply time-critical information to forest fire fighters.
Keywords
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