Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359607" target="_blank" >RIV/68407700:21230/22:00359607 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.55417/fr.2022015" target="_blank" >https://doi.org/10.55417/fr.2022015</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.55417/fr.2022015" target="_blank" >10.55417/fr.2022015</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition

Popis výsledku v původním jazyce

In this paper, we describe a system for combating real fires with sprayed liquid extinguishing agent using a team of multirotor UAVs. The system design relies on onboard sensors and operates without the need for human intervention throughout its complex mission, from its takeoff to landing. The core UAV platform can estimate its state, self-localize, navigate and locate and extinguishing fires. Thermal and RGB cameras are used, each with a specialized computer vision subsystem and are combined with planar LIDAR for 3D localization of fires on multistory building facades. The system conducts aerial firefighting with a software stack that addresses flight dynamics and sensor limitations and a liquid-spraying subsystem incorporating a rigidly-attached water nozzle. The approach presented in this paper was motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020) firefighting scenario, which focused on coordinated multi-UAV teams that can autonomously combat high-rise building fires. The MBZIRC series places particular emphasis on fast and reliable deployment of robots in realistic conditions. These contests promote development of real-world applications that are greatly needed by society, but which still exceed State-of-the-Art in the robotics community. To our knowledge, our system was the only MBZIRC 2020 contender to extinguish a facade fire successfully in autonomous mode without using an RTK-GNSS system. Our approach contributed to victory in the overall competition and we have now adapted it into an industrial prototype for a firefighting UAV. A video attachment to this paper is available at http://mrs.felk.cvut.cz/fr2020firechallenge-facadefires.

Název v anglickém jazyce

Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition

Popis výsledku anglicky

In this paper, we describe a system for combating real fires with sprayed liquid extinguishing agent using a team of multirotor UAVs. The system design relies on onboard sensors and operates without the need for human intervention throughout its complex mission, from its takeoff to landing. The core UAV platform can estimate its state, self-localize, navigate and locate and extinguishing fires. Thermal and RGB cameras are used, each with a specialized computer vision subsystem and are combined with planar LIDAR for 3D localization of fires on multistory building facades. The system conducts aerial firefighting with a software stack that addresses flight dynamics and sensor limitations and a liquid-spraying subsystem incorporating a rigidly-attached water nozzle. The approach presented in this paper was motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020) firefighting scenario, which focused on coordinated multi-UAV teams that can autonomously combat high-rise building fires. The MBZIRC series places particular emphasis on fast and reliable deployment of robots in realistic conditions. These contests promote development of real-world applications that are greatly needed by society, but which still exceed State-of-the-Art in the robotics community. To our knowledge, our system was the only MBZIRC 2020 contender to extinguish a facade fire successfully in autonomous mode without using an RTK-GNSS system. Our approach contributed to victory in the overall competition and we have now adapted it into an industrial prototype for a firefighting UAV. A video attachment to this paper is available at http://mrs.felk.cvut.cz/fr2020firechallenge-facadefires.

Druh

J_ost - Ostatní články v recenzovaných periodicích

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

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

2022

Kód důvěrnosti údajů

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

Název periodika

Field Robotics

ISSN

2771-3989

e-ISSN

2771-3989

Svazek periodika

2

Číslo periodika v rámci svazku

March

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

31

Strana od-do

406-436

Kód UT WoS článku

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EID výsledku v databázi Scopus

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