Use of unmanned vehicles in search and rescue operations in forest fires: Advantages and limitations observed in a field trial

Karma, S.; Zorba, Eleni; Pallis, G.C.; Statheropoulos, G.; Balta, I.; Mikedi, K.; Vamvakari, J.; Pappa, A.; Chalaris, Michail; Xanthopoulos, Gavriil; Statheropoulos, M.

doi:10.1016/j.ijdrr.2015.07.009

Cited by 62 publications

(26 citation statements)

References 9 publications

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“…Multi-copters, including commonly used platforms such as quadcopters, hexacopters, octocopters, or their variants, are popular as base aerial platforms for many civilian applications, including remote sensing [1][2][3], aerial imaging [4,5], firefighting [6,7], environmental measurement [8][9][10], law enforcement [11][12][13], disaster relief and emergency management [14][15][16][17][18], situational awareness [19] infrastructure surveys [20], and several other military and commercial applications. Quadcopters can be considered to be representative of this general class of aircraft, and can be maneuvered by varying the power of the four motors symmetrically or asymmetrically in order to achieve translational and rotational flight.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Bai

Gururajan

2019

Drones

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This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault Tolerance (AirCRAFT) Lab, Parks College of Engineering, Aviation and Technology at Saint Louis University, St. Louis, MO. The flight test matrix included flights in a "Figure-8" trajectory in two different morphing configurations (21 • and 27 • ), as well as the nominal geometry configuration, two different flight velocities (1.5 m/s and 2.5 m/s), two different number of waypoints, and in three planes-horizontal, inclined, and double inclined.All the experiments were conducted using standard, off-the-shelf flight controller (Pixhawk) and autopilot firmware. Simulations of the morphed geometry indicate a reduction in pitch damping (42% for 21 • morphing and 57.3% for 27 • morphing) and roll damping (63.5% for 21 • morphing and 65% for 27 • morphing). Flight tests also demonstrated that the dynamic stability in roll and pitch dynamics were reduced, but the quadcopter was still stable under morphed geometry conditions. Morphed geometry also has an effect on the flight performance-with a higher number of waypoints (30) and higher velocity (2.5 m/s), the roll dynamics performed better as compared to the lower waypoints and lower velocity condition. The yaw dynamics remained consistent through all the flight conditions, and were not significantly affected by asymmetrical morphing of the quadcopter geometry. We also determined that higher waypoint and flight velocity conditions led to a small performance improvement in tracking the desired trajectory as well.

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Section: Introductionmentioning

confidence: 99%

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Bai

Gururajan

2019

Drones

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“…Recently, mobile robots have been employed for various tasks, replacing humans in dangerous and monotonous tasks with a certain degree of efficiency and safety [1]- [3]. For this specific reason, robot mobile navigation, and in particular, path planning has become an important research topic in recent days.…”

Section: Introductionmentioning

confidence: 99%

“…Path planning algorithm based on satisfiability.input : Cost function J(L), is a set of obstacles constraints O and a set of environment constraints E, which define Ω and a desired precision η output: The optimal path L * and the optimal cost function value J(L * )1 Initialize J(L (0) ) randomly; 2 Initialize precision variable with p = 1, k = 0 e i = 1; 3 Initialize number of points, n = 1; 4 Declare decision variables vector L i as non-deterministic integer variables; 5 while k ≤ η do6 Define upper and lower limits of L with directive ASSUME, such as L ∈ Ω k ;Describe the objective function model J(L);…”

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confidence: 99%

Counterexample guided inductive optimization applied to mobile robots path planning

Araujo

Ribeiro

Bessa

et al. 2017

2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)

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We describe and evaluate a novel optimization-based off-line path planning algorithm for mobile robots based on the Counterexample-Guided Inductive Optimization (CEGIO) technique. CEGIO iteratively employs counterexamples generated from Boolean Satisfiability (SAT) and Satisfiability Modulo Theories (SMT) solvers, in order to guide the optimization process and to ensure global optimization. This paper marks the first application of those solvers for planning mobile robot path. In particular, CEGIO has been successfully applied to obtain optimal two-dimensional paths for autonomous mobile robots using off-the-shelf SAT and SMT solvers.

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“…More recently, in April of the current year, Liu and coauthors [2] also published a very in-depth and comprehensive literature review on the history, developments, applications, methodologies and challenges of UAVs. From 1985 to now UAVs are used for a very wide range of applications and here we report only some of them: forest-fire fighting [3]; police surveillance and protection [4], [5]; environmental factors, such as radiation and infectious diseases, monitoring and control [6], [7]; search and rescue missions [8], [9]; ecological research studies [10], [11]; oil and gas industry security [12]; mapping and surveying [13]; weather monitoring [14], seismic and geothermal monitoring [15 to deliver medical supplies and products in times of critical demands across both accessible and inaccessible or dangerous locations [16].…”

Section: Introductionmentioning

confidence: 99%

Development of a Universal Seeder System to Be Applied in Drones

Felismina¹,

Silva²,

Mateus³

et al. 2017

JOAAT

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The number of applications that Unmanned Aerial Vehicles (UAVs), or drones, can have is absolutely amazing. From applications for military purposes to personal requests undergoing civilian applications, the literature demonstrates the extent and usefulness that drones represent nowadays. This paper aims to contribute positively to the growth of the economic sector of agriculture since it has the purpose of developing a seeder that will be able to be coupled to any type of drone. Besides being used to make a random seed, this seeder allows for the deposition of seeds with positional accuracy, i.e., seeds will be accurately deposited at pre-established distances between plants. A coupling system between seeder and drone that regards the specifications of UAVs manufacturer to ensure that operations are carried out safely was also designed. Furthermore, a communication interface between UAVs and a peripheral integrated system that enables operation of the assembly was also developed.

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Use of unmanned vehicles in search and rescue operations in forest fires: Advantages and limitations observed in a field trial

Cited by 62 publications

References 9 publications

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance

Counterexample guided inductive optimization applied to mobile robots path planning

Development of a Universal Seeder System to Be Applied in Drones

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