Rescue Boat Path Planning in Flooded Urban Environments

Ozkan, Mehmet Fatih; Carrillo, Luis Rodolfo García; King, Scott A.

doi:10.1109/ismcr47492.2019.8955663

Cited by 23 publications

(14 citation statements)

References 21 publications

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“…Some emergency scenarios, such as flooded coastal areas, combine multiple of the above mediums making the deployment of autonomous robots even more challenging. For instance, in [152], the authors describe path planning techniques for rescue vessels in flooded urban environments, where many of the limitations of urban navigation are added to the already limited navigation of surface robots in shallow waters.…”

Section: Planning For Different Robots: Uavs Ugvs Uuvs and Usvsmentioning

confidence: 99%

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.

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Section: Planning For Different Robots: Uavs Ugvs Uuvs and Usvsmentioning

confidence: 99%

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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“…Since the tether joints are considered revolute and frictionless, there is no coupling between the tether's rotational motion and the UAV and buoy's rotational dynamics, whereas their translational dynamics are coupled through (9). Additionally, as can be deduced by inspecting the elements of (35), the UAV and buoy's rotational dynamics are independent of each other, and can still be described by the dynamic models of their individual systems in (27) and (21), respectively. This is further elaborated in Appendix D. Given this, the tethered UAV−buoy system coupled dynamics can be represented by the first fives states: x b , y b , z b , α, and ϕ, which are independent of other rigid body orientation states that concern either the UAV's or the buoy's dynamics alone.…”

Section: The Tethered Uav−buoy System Modelmentioning

confidence: 99%

“…This is further elaborated in Appendix D. Given this, the tethered UAV−buoy system coupled dynamics can be represented by the first fives states: x b , y b , z b , α, and ϕ, which are independent of other rigid body orientation states that concern either the UAV's or the buoy's dynamics alone. Hereafter, we limit the representation of the coupled system to the first five state variables mentioned above, while the UAV and buoy's rotational dynamics can still be described by η 2,u in ( 27) and η 2,b in (21), respectively. The inertia matrix for the coupled system is explicitly represented as M 1−5 = [M 1 ; M 2 ; M 3 ; M 4 ; M 5 ], where:…”

Section: The Tethered Uav−buoy System Modelmentioning

confidence: 99%

“…Teams of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) harness the advantages of each vehicle to form a superior robotic system. To face challenges brought by flood disasters [29], marine oil spill events [10,22], search and rescue [4,21], monitoring and patrol [9], and water surface cleanup [11], amongst others, heterogeneous UAV-USV systems have been employed.…”

Section: Introductionmentioning

confidence: 99%

“…UAVs and USVs can form a dexterous robotic team in the marine environment, as evidenced by the various applications considered in the literature. A heterogeneous robotic swarm was considered in [21], where UAVs are used to generate and transmit pathplanning information in addition to full area maps for USV agents to perform rescue missions. Further cooperation between the two vehicle systems can be achieved via additional sensing and control schemes, among which is the aerial visual tracking of the USV.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

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Rescue Strategy in Case of Large-Scale Flood Damage in the Koto Delta Region

Terafuji

Hatayama

2022

IFIP Advances in Information and Communication Technology

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Rescue Boat Path Planning in Flooded Urban Environments

Cited by 23 publications

References 21 publications

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Rescue Strategy in Case of Large-Scale Flood Damage in the Koto Delta Region

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