Visual victim detection and quadrotor-swarm coordination control in search and rescue environment

Abstract

We propose a distributed victim-detection algorithm through visual information on quadrotors using convolutional neuronal networks (CNN) in a search and rescue environment. Describing the navigation algorithm, which allows quadrotors to avoid collisions. Secondly, when one quadrotor detects a possible victim, it causes its closest neighbors to disconnect from the main swarm and form a new sub-swarm around the victim, which validates the victim’s status. Thus, a formation control that permits to acquire information is performed based on the well-known rendezvous consensus algorithm. Finally, images are processed using CNN identifying potential victims in the area. Given the uncertainty of the victim detection measurement among quadrotors’ cameras in the image processing, estimation consensus (EC) and max-estimation consensus (M-EC) algorithms are proposed focusing on agreeing over the victim detection estimation. We illustrate that M-EC delivers better results than EC in scenarios with poor visibility and uncertainty produced by fire and smoke. The algorithm proves that distributed fashion can obtain a more accurate result in decision-making on whether or not there is a victim, showing robustness under uncertainties and wrong measurements in comparison when a single quadrotor performs the mission. The well-functioning of the algorithm is evaluated by carrying out a simulation using V-Rep.

A sensor review for human detection with robotic systems in regular and smoky environments

“…Prior work for human detection with an optical camera is mainly in the field of UAVs. 14,[23][24][25][26] Also, the two works of Liu et al 27,28 propose a novel approach to automatically detect humans in real time with an optical camera. Experimental tests show that the system is suitable in regular environments.…”

Pose estimation algorithm for mobile augmented reality based on inertial sensor fusion

“…However, the methods primarily concentrate on the fusion of pose estimation, which has yet to be implemented in visual guidance applications such as grasping. Furthermore, the sensor fusion techniques assume that the target is in the intersection field of view (FOV) of all the cameras [34], [35]. Another main issue in using EKF based multi-camera method is the increase in computational cost.…”

Motor-Efficiency Estimation and Control of Multirotors Comprising a Cooperative Transportation System

“…Multirotors are a type of underactuated mechanical system that do not require a runway to take off, unlike fixed-wing aircraft [1]. They offer various advantages, such as portability, agility, and mobility, which make them suitable for different applications, including search and rescue [2], agriculture [3], military attack [4], and cooperative transportation [5].…”