Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting

Madridano, Ángel; Al-Kaff, Abdulla; Flores, Pablo; Martín, David; Escalera, Arturo de la

doi:10.3390/app11031258

Cited by 32 publications

(8 citation statements)

References 28 publications

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“…Homogeneous robots, i.e., identical or similar robots, share the same functionalities. Their collaboration enables them to perform tasks by coordinating the robots' actions to achieve specific objectives [5]. Compared to heterogeneous robots, this kind of collaboration may lack the ability to solve tasks in complex scenarios, as demonstrated in [2].…”

Section: Cooperative Heterogeneous Robotsmentioning

confidence: 99%

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Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments

de Castro,

Santos,

Andrade

et al. 2024

Machines

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This research presents a cooperation strategy for a heterogeneous group of robots that comprises two Unmanned Aerial Vehicles (UAVs) and one Unmanned Ground Vehicles (UGVs) to perform tasks in dynamic scenarios. This paper defines specific roles for the UAVs and UGV within the framework to address challenges like partially known terrains and dynamic obstacles. The UAVs are focused on aerial inspections and mapping, while UGV conducts ground-level inspections. In addition, the UAVs can return and land at the UGV base, in case of a low battery level, to perform hot swapping so as not to interrupt the inspection process. This research mainly emphasizes developing a robust Coverage Path Planning (CPP) algorithm that dynamically adapts paths to avoid collisions and ensure efficient coverage. The Wavefront algorithm was selected for the two-dimensional offline CPP. All robots must follow a predefined path generated by the offline CPP. The study also integrates advanced technologies like Neural Networks (NN) and Deep Reinforcement Learning (DRL) for adaptive path planning for both robots to enable real-time responses to dynamic obstacles. Extensive simulations using a Robot Operating System (ROS) and Gazebo platforms were conducted to validate the approach considering specific real-world situations, that is, an electrical substation, in order to demonstrate its functionality in addressing challenges in dynamic environments and advancing the field of autonomous robots.

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Section: Cooperative Heterogeneous Robotsmentioning

confidence: 99%

“…An important aspect to be mentioned in cooperation between robots is the fact that most of the research in the literature encompasses homogeneous multi-robot systems due to their simplicity and scalability [5,6]. The heterogeneity among robot teams enhances performance in various aspects [6].…”

Section: Introductionmentioning

confidence: 99%

Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments

de Castro,

Santos,

Andrade

et al. 2024

Machines

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“…In [154], authors introduced UAV-fog to reduce latency and improve scalability and real-time communication for UAV-IoT-based applications. In another work [155], the authors presented a software architecture framework for autonomous operations of a UAV swarm network to carry out coordinated firefighting operations in dense urban or forest environments. The software architecture includes a set of complementary methods that allow UAVs to communicate autonomously for cooperative navigation and establish a scalable, robust, and secure communication system for firefighting in dense environments.…”

Section: B Intelligent Environmental Monitoring Systemsmentioning

confidence: 99%

Communication and Control in Collaborative UAVs: Recent Advances and Future Trends

Javaid¹,

Saeed²,

Qadir³

et al. 2023

Preprint

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The recent progress in unmanned aerial vehicles (UAV) technology has significantly advanced UAV-based applications for military, civil, and commercial domains. Nevertheless, the challenges of establishing high-speed communication links, flexible control strategies, and developing efficient collaborative decision-making algorithms for a swarm of UAVs limit their autonomy, robustness, and reliability. Thus, a growing focus has been witnessed on collaborative communication to allow a swarm of UAVs to coordinate and communicate autonomously for the cooperative completion of tasks in a short time with improved efficiency and reliability. This work presents a comprehensive review of collaborative communication in a multi-UAV system. We thoroughly discuss the characteristics of intelligent UAVs and their communication and control requirements for autonomous collaboration and coordination. Moreover, we review various UAV collaboration tasks, summarize the applications of UAV swarm networks for dense urban environments and present the use case scenarios to highlight the current developments of UAV-based applications in various domains. Finally, we identify several exciting future research direction that needs attention for advancing the research in collaborative UAVs.

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“…Since 2021, a platform has been already made use of to manage a number of UAVs in order to spread the liquid on wildland fires (Ausonio et al, 2021). Nowadays, a lot of teams have been focusing on the frameworks of UAV swarms because a single UAV is not enough for a big fire or wildfire so that more UAVs will be applied in the near future (Ausonio et al, 2021;Innocente & Grasso, 2019;Madridano et al, 2021;Roldán-Gómez et al, 2021).…”

Section: Figure 1-restrictions Of Watch Towers and Fixed Cameras Inst...mentioning

confidence: 99%

Autonomous Wildfire Tracking Systems Based on UAV and Perspectives of Wildfire Digital Twin

Li¹,

Huang²

2022

Advances in Forest Fire Research 2022

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The ever-burgeoning development of digital twin systems lays the path for a new approach to wildfire monitoring and prevention. A real wildfire digital shadow reflects the fire development, providing a promising platform for firefighting decisions. However, currently, static terrain information cannot be integrated with dynamic wildfire locations, which is a great hindrance to the utilization of digital twin systems. The flame trend fails to be mapped in the digital shadow. The key to solving this issue is to ensure real-time data transfer. Thus, UAVs equipped with vision systems could be leveraged to maintain surveillance, transferring the real-time information to the digital twin systems. Initially, the study reviews the UAVs in wildfires. Specifically, the history of UAV tracking is introduced. Furthermore, the autonomous wildfire tracking system is proposed to assist in locating the fire front. A YOLO-based algorithm is utilized to detect the fire front. The UAVs use an orthographic view to locate the wildfire, controlling and maintaining the gesture with a perspective lock on the flame front. Then, UAVs track and follow the flame front without human intervention. In addition, the combination of UAV location information based on GPS and camera view information depicts the wildfire in the digital twin systems. This study aims to act as a pre-processing step for wildfire digital twin data transfer. It will provide a basis for the precise wildfire portrait in the virtual systems.

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Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting

Cited by 32 publications

References 28 publications

Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments

Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments

Communication and Control in Collaborative UAVs: Recent Advances and Future Trends

Autonomous Wildfire Tracking Systems Based on UAV and Perspectives of Wildfire Digital Twin

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