Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00346269" target="_blank" >RIV/68407700:21230/21:00346269 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ACCESS.2021.3052967" target="_blank" >https://doi.org/10.1109/ACCESS.2021.3052967</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2021.3052967" target="_blank" >10.1109/ACCESS.2021.3052967</a>
Alternative languages
Result language
angličtina
Original language name
Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle
Original language description
This paper presents a novel approach to autonomous extinguishing of indoor fires inside a building by a Micro-scale Unmanned Aerial Vehicle (MAV). In particular, controlling and estimating the MAV state, detection of a building entrance, multi-modal MAV localization during the outdoor-indoor transition, interior motion planning and exploration, fire detection and position estimation, and fire extinguishing are discussed. The performance of these elements, as well as of the entire integrated system, are evaluated in simulations and field tests in various demanding real-world conditions. The system presented here is part of a complex multi-MAV solution that won the Mohamed Bin Zayed International Robotics Challenge 2020 (MBZIRC 2020) competition, and is being used as the core of a fire-fighting Unmanned Aerial System (UAS) industrial platform under development. A video attachment to this paper is available at the website http://mrs.felk.cvut.cz/2020firechallenge-insidefires.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Volume of the periodical
9
Issue of the periodical within the volume
1
Country of publishing house
US - UNITED STATES
Number of pages
19
Pages from-to
15872-15890
UT code for WoS article
000613537100001
EID of the result in the Scopus database
2-s2.0-85099733652