| Title: | GS9-6 Development of a heterogeneous aerial swarm control framework for forest management |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 216-219 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS9-6 |
| Author(s): | Yuriy Gerasimov, Artur Sagitov, Evgeni Magid |
| Publication Date: | February 2, 2018 |
| Keywords: | robotics, algorithms, swarm control, robotic framework, unmanned aerial vehicle (UAV) |
| Abstract: | As the prevalence of UAVs is increasing, they are becoming more accessible for wider applications. Our interest is in application of UAVs for forest management challenges including monitoring health and safety and commercial exploitation in a sustainable manner. We propose a swarm control framework for managing a group of UAVs for aforementioned tasks, including survey of tree health with infrared cameras and chemical sensors, detecting potential risky situations of illegal logging, smoke and fires, and estimating potential volume measurements. The proposed framework manages planning flight trajectories, sensor fusion and collaborative mapping. On the next stage, we plan to simulate the framework in ROS/Gazebo environment, and further to implement a pilot project with a group of DJI Phantom quadrotors and a large-size fixed-wing UAV. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS9/GS9-6.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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