Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userAutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing
71
0
0.0
(
0
)
Added by
Jorge Pe\\~na Queralta
Publication date
2020
fields
Informatics Engineering
and research's language is
English
Ask ChatGPT about the research
No Arabic abstract
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work in the development of an autonomous multi-robot search and rescue assistance platform capable of sensor fusion and object detection in embedded devices using novel lightweight AI models. The platform is meant to perform reconnaissance missions for initial assessment of the environment using novel adaptive deep learning algorithms that efficiently use the available sensors and computational resources on drones and rescue vessel. When drones find potential objects, they will send their sensor data to the vessel to verity the findings with increased accuracy. The actual rescue and treatment operation are left as the responsibility of the rescue personnel. The drones will autonomously reconfigure their spatial distribution to enable multi-hop communication, when a direct connection between a drone transmitting information and the vessel is unavailable.
rate research
Read More
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more impact is in search and rescue (SAR) operations. In particular, multi-robot systems have the potential to significantly improve the efficiency of SAR personnel with faster search of victims, initial assessment and mapping of the environment, real-time monitoring and surveillance of SAR operations, or establishing emergency communication networks, among other possibilities. SAR operations encompass a wide variety of environments and situations, and therefore heterogeneous and collaborative multi-robot systems can provide the most advantages. In this paper, we review and analyze the existing approaches to multi-robot SAR support, from an algorithmic perspective and putting an emphasis on the methods enabling collaboration among the robots as well as advanced perception through machine vision and multi-agent active perception. Furthermore, we put these algorithms in the context of the different challenges and constraints that various types of robots (ground, aerial, surface or underwater) encounter in different SAR environments (maritime, urban, wilderness or other post-disaster scenarios). This is, to the best of our knowledge, the first review considering heterogeneous SAR robots across different environments, while giving two complimentary points of view: control mechanisms and machine perception. Based on our review of the state-of-the-art, we discuss the main open research questions, and outline our insights on the current approaches that have potential to improve the real-world performance of multi-robot SAR systems.
Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However, these UAVs have to be able to autonomously navigate in disaster struck environments and land on debris piles in order to accurately locate the survivors. This problem is extremely challenging as pre-existing maps cannot be leveraged for navigation due to structural changes that may have occurred. Furthermore, existing landing site detection algorithms are not suitable to identify safe landing regions on debris piles. In this work, we present a computationally efficient system for autonomous UAV navigation and landing that does not require any prior knowledge about the environment. We propose a novel landing site detection algorithm that computes costmaps based on several hazard factors including terrain flatness, steepness, depth accuracy, and energy consumption information. We also introduce a first-of-a-kind synthetic dataset of over 1.2 million images of collapsed buildings with groundtruth depth, surface normals, semantics and camera pose information. We demonstrate the efficacy of our system using experiments from a city scale hyperrealistic simulation environment and in real-world scenarios with collapsed buildings.
Recently, along with the rapid development of mobile communication technology, edge computing theory and techniques have been attracting more and more attentions from global researchers and engineers, which can significantly bridge the capacity of cloud and requirement of devices by the network edges, and thus can accelerate the content deliveries and improve the quality of mobile services. In order to bring more intelligence to the edge systems, compared to traditional optimization methodology, and driven by the current deep learning techniques, we propose to integrate the Deep Reinforcement Learning techniques and Federated Learning framework with the mobile edge systems, for optimizing the mobile edge computing, caching and communication. And thus, we design the In-Edge AI framework in order to intelligently utilize the collaboration among devices and edge nodes to exchange the learning parameters for a better training and inference of the models, and thus to carry out dynamic system-level optimization and application-level enhancement while reducing the unnecessary system communication load. In-Edge AI is evaluated and proved to have near-optimal performance but relatively low overhead of learning, while the system is cognitive and adaptive to the mobile communication systems. Finally, we discuss several related challenges and opportunities for unveiling a promising upcoming future of In-Edge AI.
In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a simulated lost person behavior model, as well as a human searcher behavior model that is informed by data collected from past search tasks. These models are used together to create a probabilistic heatmap of the lost persons position and anticipated searcher trajectories. We then use Gaussian processes with a Gibbs kernel to accurately model a limited field-of-view (FOV) sensor, e.g., thermal cameras, from which we derive a risk metric that drives UAV path optimization. Our framework finally computes a set of search paths for a team of UAVs to autonomously complement human searchers efforts.
Extremely high data rates at modern synchrotron and X-ray free-electron lasers (XFELs) light source beamlines motivate the use of machine learning methods for data reduction, feature detection, and other purposes. Regardless of the application, the basic concept is the same: data collected in early stages of an experiment, data from past similar experiments, and/or data simulated for the upcoming experiment are used to train machine learning models that, in effect, learn specific characteristics of those data; these models are then used to process subsequent data more efficiently than would general-purpose models that lack knowledge of the specific dataset or data class. Thus, a key challenge is to be able to train models with sufficient rapidity that they can be deployed and used within useful timescales. We describe here how specialized data center AI systems can be used for this purpose.
suggested questions
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
