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An Autonomous Multi-UAV System for Search and Rescue

Published: 18 May 2015 Publication History

Abstract

This paper proposes and evaluates a modular architecture of an autonomous unmanned aerial vehicle (UAV) system for search and rescue missions. Multiple multicopters are coordinated using a distributed control system. The system is implemented in the Robot Operating System (ROS) and is capable of providing a real-time video stream from a UAV to one or more base stations using a wireless communications infrastructure. The system supports a heterogeneous set of UAVs and camera sensors. If necessary, an operator can interfere and reduce the autonomy. The system has been tested in an outdoor mission serving as a proof of concept. Some insights from these tests are described in the paper.

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    cover image ACM Conferences
    DroNet '15: Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use
    May 2015
    66 pages
    ISBN:9781450335010
    DOI:10.1145/2750675
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Publication History

    Published: 18 May 2015

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    Author Tags

    1. aerial communication
    2. search and rescue
    3. system architecture
    4. uav
    5. unmanned aerial vehicles
    6. video streaming

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    • ERDF
    • BABEG
    • KWF

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    MobiSys'15
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    DroNet '15 Paper Acceptance Rate 8 of 20 submissions, 40%;
    Overall Acceptance Rate 29 of 50 submissions, 58%

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    Cited By

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    • (2025) Path-Dependent Constrained Formation for a Quadrotor Team IEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.348439526:1(397-409)Online publication date: Jan-2025
    • (2024)Drones in Action: A Comprehensive Analysis of Drone-Based Monitoring TechnologiesData and Metadata10.56294/dm2024.3643Online publication date: 2-Sep-2024
    • (2024)Clique Analysis and Bypassing in Continuous-Time Conflict-Based SearchProceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems10.5555/3635637.3663220(2540-2542)Online publication date: 6-May-2024
    • (2024)全球导航卫星系统拒止条件下无人机影像快速级联检索方法Acta Optica Sinica10.3788/AOS24101144:24(2428011)Online publication date: 2024
    • (2024)UAVs-Based Visual Localization via Attention-Driven Image Registration Across Varying Texture LevelsDrones10.3390/drones81207398:12(739)Online publication date: 9-Dec-2024
    • (2024)Intelligent Swarm: Concept, Design and Validation of Self-Organized UAVs Based on Leader–Followers Paradigm for Autonomous Mission PlanningDrones10.3390/drones81005758:10(575)Online publication date: 11-Oct-2024
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    • (2024)A Visual Navigation Algorithm for UAV Based on Visual-Geography OptimizationDrones10.3390/drones80703138:7(313)Online publication date: 10-Jul-2024
    • (2024)Exploring Drone Classifications and Applications: A ReviewInternational Journal of Engineering and Geosciences10.26833/ijeg.1428724Online publication date: 14-May-2024
    • (2024)Joint Terrestrial-Aerial Geometric Path Planning for Tensegrity-Aerial Robot2024 43rd Chinese Control Conference (CCC)10.23919/CCC63176.2024.10662443(4658-4662)Online publication date: 28-Jul-2024
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