Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Autonomous Firefighting Inside Buildings by an Unmanned Aerial Vehicle

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

9

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

19

Strana od-do

15872-15890

Kód UT WoS článku

000613537100001

EID výsledku v databázi Scopus

2-s2.0-85099733652