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Using multi-UAV for rescue environment mapping: task planning optimization approach

2021Comunicação em conferência Acesso aberto
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dc.contributor.authorRosa, Ricardo
dc.contributor.authorBrito, Thadeu
dc.contributor.authorPereira, Ana I.
dc.contributor.authorLima, José
dc.contributor.authorWehrmeister, Marco A.
dc.date.accessioned2022-01-14T10:31:21Z
dc.date.available2022-01-14T10:31:21Z
dc.date.issued2021
dc.description.abstractRescuing survivors in unknown environment can be extreme difficulty. The use of UAVs to map the environment and also to obtain remote information can benefit the rescue tasks. This paper proposes an organizational system for multi-UAVs to map indoor environments that have been affected by a natural disaster. The robot’s organization is focused on avoiding possible collisions between swarm’s members, and also to prevent searching in locations that have already discovered. This organizational approach is inspired by bees behavior. Thus, the multi- UAVs must search, in a collaborative way, in order to map the scenario in the shortest possible time and, consequently, to travel the shortest reasonable distance. Therefore, three strategies were evaluated in a simulation scenario created in the V-REP software. The results indicate the feasibility of the proposed approach and compare the three plans based on the number of locations discovered and the path taken by each UAV.pt_PT
dc.description.sponsorshipThis work is supported by Grant #337/2014 (Fundação Araucária - Brazil), the grant from the bi-national cooperation scheme of UTFPR- IPB and by FCT – Fundação para a Ciência e Tecnologia within the Projects Scopem UIDB/05757/2020.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationRosa, Ricardo; Brito, Thadeu; Pereira, Ana I.; Lima, José; Wehrmeister, Marco A. (2021). Using multi-UAV for rescue environment mapping: task planning optimization approach. In CONTROLO 2020: Proceedings of the 14th APCA International Conference on Automatic Control and Soft Computing. p. 507-517. ISBN 978-3-030-58652-2pt_PT
dc.identifier.doi10.1007/978-3-030-58653-9_49pt_PT
dc.identifier.isbn978-3-030-58652-2
dc.identifier.urihttp://hdl.handle.net/10198/24649
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectUnmanned aerial vehiclespt_PT
dc.subjectMultiple UAVpt_PT
dc.subjectCollaborative environment mappingpt_PT
dc.subjectPath planningpt_PT
dc.titleUsing multi-UAV for rescue environment mapping: task planning optimization approachpt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardNumberUIDB/05757/2020
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.citation.endPage517pt_PT
oaire.citation.startPage507pt_PT
oaire.citation.volume695pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBrito
person.familyNamePereira
person.familyNameLima
person.givenNameThadeu
person.givenNameAna I.
person.givenNameJosé
person.identifierBjSISEAAAAAJ
person.identifierR-000-8GD
person.identifier.ciencia-idC911-A95D-712F
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0002-5962-0517
person.identifier.orcid0000-0003-3803-2043
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridF-3168-2010
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id57200694948
person.identifier.scopus-author-id15071961600
person.identifier.scopus-author-id55851941311
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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