Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles

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Permanent URL	http://hdl.lib.byu.edu/1877/55
Title	Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles
BYU Creator	Beard, Randal Casbeer, David Kingston, Derek McLain, Timothy W.
Creator	Li, Sai-Ming Mehra, Raman
Keywords	consensus; cooperative control; Forest fires; micro UAVs; perimeter control
Description/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.
Date Digital	2004-12-03
Language	English eng en
Publication Type	Peer-Reviewed Articles
Type	Text
Format	application/pdf
Owning Institution	Brigham Young University
BYU College	Ira A. Fulton College of Engineering and Technology
BYU Department	Electrical and Computer Engineering
Copyright Status	(c) 2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.;
Copyright Use Information	http://www.lib.byu.edu/generic_copyright.html

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Cooperative Forest Fire Surveillance Using a Team of Small Unmanned Air Vehicles

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