Development of a heterogeneous aerial swarm control framework for forest management

DOI
  • Gerasimov Yuriy
    Intelligent Robotic Systems Laboratory, Higher Institute for Information Technology and Information Systems (ITIS), Kazan Federal University
  • Sagitov Artur
    Intelligent Robotic Systems Laboratory, Higher Institute for Information Technology and Information Systems (ITIS), Kazan Federal University
  • Magid Evgeni
    Intelligent Robotic Systems Laboratory, Higher Institute for Information Technology and Information Systems (ITIS), Kazan Federal University

説明

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.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390001288120183680
  • DOI
    10.5954/icarob.2018.gs9-6
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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