@article{ref1,
title="Cooperative forest fire surveillance using a team of small unmanned air vehicles",
journal="International journal of systems science",
year="2006",
author="Casbeer, David W. and Kingston, Derek B. and Beard, Randal W. and McLain, Timothy W.",
volume="37",
number="6",
pages="351-360",
abstract="The objective of this paper is to explore the feasibility of using multiple low-altitude, short endurance (LASE) unmanned air vehicles (UAVs) to cooperatively monitor and track the propagation of large forest fires. A real-time algorithm is described for tracking the perimeter of fires with an on-board infrared sensor. Using this algorithm, we develop a decentralized multiple-UAV approach to monitoring the perimeter of a fire. The UAVs are assumed to have limited communication and sensing range. The effectiveness of the approach is demonstrated in simulation using a six degree-of-freedom dynamic model for the UAV and a numerical propagation model for the forest fire. Salient features of the approach include the ability to monitor a changing fire perimeter, the ability to systematically add and remove UAVs from the team, and the ability to supply time-critical information to fire fighters.<p /><p>Language: en</p>",
language="en",
issn="0020-7721",
doi="10.1080/00207720500438480",
url="http://dx.doi.org/10.1080/00207720500438480"
}