Decentralized swarms of unmanned aerial vehicles for search and rescue operations without explicit communication

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00361779" target="_blank" >RIV/68407700:21230/23:00361779 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/s10514-022-10066-5" target="_blank" >https://doi.org/10.1007/s10514-022-10066-5</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10514-022-10066-5" target="_blank" >10.1007/s10514-022-10066-5</a>

Result language
angličtina
Original language name
Decentralized swarms of unmanned aerial vehicles for search and rescue operations without explicit communication
Original language description
In this paper, we introduce a distributed autonomous flocking behavior of Unmanned Aerial Vehicles (UAVs) in demanding outdoor conditions, motivated by search and rescue applications. We propose a novel approach for decentralized swarm navigation in the direction of a candidate object of interest (OOI) based on real-time detections from onboard RGB cameras. A novel self-adaptive communication strategy secures an efficient change of swarm azimuth to a higher priority direction based on the real-time detections. We introduce a local visual communication channel that establishes a network connection between neighboring robots without explicit communication to achieve high reliability and scalability of the system. As a case study, this novel method is applied for the deployment of a UAV swarm towards detected OOI for closer inspection and verification. The results of simulations and real-world experiments have verified the intended behavior of the swarm system for the detection of true positive and false positive OOI, as well as for cooperative environment exploration.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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