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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA20-10280S" target="_blank" >GA20-10280S: Spolehlivé kompaktní skupiny miniaturních vzdušných robotů proměnného tvaru řízené senzorickým vnímáním</a><br>

Návaznosti

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

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Svazek periodika

47

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

17

Strana od-do

77-93

Kód UT WoS článku

000870921100001

EID výsledku v databázi Scopus

2-s2.0-85140391722