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Author Sujit, P.B. ♦ Kingston, D. ♦ Beard, R.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2007
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Fires ♦ Monitoring ♦ Unmanned aerial vehicles ♦ Costs ♦ Personnel ♦ Detectors ♦ Satellites ♦ USA Councils ♦ Algorithm design and analysis ♦ Space technology
Abstract This paper addresses the problem of using a team of UAVs to cooperatively monitor multiple forest fires (called hotspots) in a region. We deploy two types of agents: service agents that locally monitor the state of the hotspots and detector agents that search for hotspots and assign service agents to those that are detected. We develop an assignment scheme based on auctions to perform the assignment of a hotspot to a group of service agents. While monitoring a hotspot, service agents are required to be equally spaced around the perimeter. In order to achieve equal spacing around the hotspot perimeter, we develop a splay state controller that ensures the convergence of the service agents to the equally spaced configuration. We also address the problems associated with tracking hotspots that expand in size and possibly combine together. Simulation results are presented to validate the assignment and control algorithms.
Description Author affiliation: Brigham Young Univ., Provo (Sujit, P.B.)
ISBN 9781424414970
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2007-12-12
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 270.74 kB
Page Count 6
Starting Page 4875
Ending Page 4880

Source: IEEE Xplore Digital Library