Publication:
Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligenteses
dc.contributor.authorMadridano Carrasco, Ángel
dc.contributor.authorAl Kaff, Abdulla Hussein Abdulrahman
dc.contributor.authorFlores, Pablo
dc.contributor.authorMartín Gómez, David
dc.contributor.authorEscalera Hueso, Arturo de la
dc.contributor.funderComunidad de Madrides
dc.date.accessioned2021-06-07T10:21:21Z
dc.date.available2021-06-07T10:21:21Z
dc.date.issued2021-02-01
dc.description.abstractAdvances in the field of unmanned aerial vehicles (UAVs) have led to an exponential increase in their market, thanks to the development of innovative technological solutions aimed at a wide range of applications and services, such as emergencies and those related to fires. In addition, the expansion of this market has been accompanied by the birth and growth of the so-called UAV swarms. Currently, the expansion of these systems is due to their properties in terms of robustness, versatility, and efficiency. Along with these properties there is an aspect, which is still a field of study, such as autonomous and cooperative navigation of these swarms. In this paper we present an architecture that includes a set of complementary methods that allow the establishment of different control layers to enable the autonomous and cooperative navigation of a swarm of UAVs. Among the different layers, there are a global trajectory planner based on sampling, algorithms for obstacle detection and avoidance, and methods for autonomous decision making based on deep reinforcement learning. The paper shows satisfactory results for a line-of-sight based algorithm for global path planner trajectory smoothing in 2D and 3D. In addition, a novel method for autonomous navigation of UAVs based on deep reinforcement learning is shown, which has been tested in 2 different simulation environments with promising results about the use of these techniques to achieve autonomous navigation of UAVs.en
dc.description.sponsorshipThis work was supported by the Comunidad de Madrid Government through the Industrial Doctorates Grants (GRANT IND2017/TIC-7834).en
dc.format.extent35
dc.identifier.bibliographicCitationMadridano, N., Al-Kaff, A., Flores, P., Martín, D. & de la Escalera, A. (2021). Software Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefighting. Applied Sciences, 11(3), 1258.en
dc.identifier.doihttps://doi.org/10.3390/app11031258
dc.identifier.issn2076-3417
dc.identifier.publicationfirstpage1258
dc.identifier.publicationissue3
dc.identifier.publicationtitleApplied Sciencesen
dc.identifier.publicationvolume11
dc.identifier.urihttps://hdl.handle.net/10016/32840
dc.identifier.uxxiAR/0000026852
dc.language.isoeng
dc.publisherMDPI
dc.relation.projectIDComunidad de Madrid. IND2017/TIC-7834es
dc.rights© 2021 by the authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherUAVsen
dc.subject.otherSwarmen
dc.subject.otherAutonomousen
dc.subject.otherNavigationen
dc.subject.otherSoftware architectureen
dc.titleSoftware Architecture for Autonomous and Coordinated Navigation of UAV Swarms in Forest and Urban Firefightingen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Software_AS_2021.pdf
Size:
4.25 MB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LSI - Artículos de Revistas