Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires
This paper explores the design of a high-level mission planner and controller for managing unmanned aerial vehicles (UAVs) fighting a wildfire through the utilization of reactive synthesis and dynamic allocation of the UAVs as resources for the fire. The contribution of this paper is a study on the...
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| Format: | Article |
| Language: | English |
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IEEE
2018-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8568978/ |
| _version_ | 1819174680311889920 |
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| author | Joshua A. Shaffer Estefany Carrillo Huan Xu |
| author_facet | Joshua A. Shaffer Estefany Carrillo Huan Xu |
| author_sort | Joshua A. Shaffer |
| collection | DOAJ |
| description | This paper explores the design of a high-level mission planner and controller for managing unmanned aerial vehicles (UAVs) fighting a wildfire through the utilization of reactive synthesis and dynamic allocation of the UAVs as resources for the fire. The contribution of this paper is a study on the hierarchal integration of reactive synthesis, used for assuring desired system design traits, and dynamic allocation, used for making heuristic-based decisions. Reactive synthesis provides a formal means of guaranteeing the UAVs' transition to areas of fire, refill of water, and land as defined by the linear temporal logic specifications. Dynamic allocation coordinates the behavior of multiple UAVs through assignments to regions of fire based on a cost function that takes into consideration the fire locations relative to a UAV, distance to the domain edge, wind speed and direction, and the amount of suppressant already present. The use of receding horizons in the reactive synthesis formulation incorporates horizons defined only through spatial distance from a goal. Modifications to these horizon definitions guarantee that the scenario still maintains the overall realizability of the formal specifications after the inclusion of static obstacles. This paper shows the effectiveness of multiple UAV fleets in slowing down the progression of fires from reaching the domain edge through six fire scenarios. At last, our results and successful application demonstrate the utilization of reactive synthesis in larger task spaces and the implications of abstracting UAV transitions for use in formal methods. |
| first_indexed | 2024-12-22T20:42:49Z |
| format | Article |
| id | doaj.art-1438933a80e34346aea802e54f2e2316 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T20:42:49Z |
| publishDate | 2018-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-1438933a80e34346aea802e54f2e23162022-12-21T18:13:17ZengIEEEIEEE Access2169-35362018-01-016788687888010.1109/ACCESS.2018.28854558568978Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting FiresJoshua A. Shaffer0https://orcid.org/0000-0002-6579-4556Estefany Carrillo1Huan Xu2Department of Aerospace Engineering, University of Maryland at College Park, College Park, MD, USADepartment of Aerospace Engineering, University of Maryland at College Park, College Park, MD, USADepartment of Aerospace Engineering, University of Maryland at College Park, College Park, MD, USAThis paper explores the design of a high-level mission planner and controller for managing unmanned aerial vehicles (UAVs) fighting a wildfire through the utilization of reactive synthesis and dynamic allocation of the UAVs as resources for the fire. The contribution of this paper is a study on the hierarchal integration of reactive synthesis, used for assuring desired system design traits, and dynamic allocation, used for making heuristic-based decisions. Reactive synthesis provides a formal means of guaranteeing the UAVs' transition to areas of fire, refill of water, and land as defined by the linear temporal logic specifications. Dynamic allocation coordinates the behavior of multiple UAVs through assignments to regions of fire based on a cost function that takes into consideration the fire locations relative to a UAV, distance to the domain edge, wind speed and direction, and the amount of suppressant already present. The use of receding horizons in the reactive synthesis formulation incorporates horizons defined only through spatial distance from a goal. Modifications to these horizon definitions guarantee that the scenario still maintains the overall realizability of the formal specifications after the inclusion of static obstacles. This paper shows the effectiveness of multiple UAV fleets in slowing down the progression of fires from reaching the domain edge through six fire scenarios. At last, our results and successful application demonstrate the utilization of reactive synthesis in larger task spaces and the implications of abstracting UAV transitions for use in formal methods.https://ieeexplore.ieee.org/document/8568978/Reactive synthesisreceding horizontemporal motion planningdistributed controllersunmanned aerial vehicles (UAVs)aerial fire suppression |
| spellingShingle | Joshua A. Shaffer Estefany Carrillo Huan Xu Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires IEEE Access Reactive synthesis receding horizon temporal motion planning distributed controllers unmanned aerial vehicles (UAVs) aerial fire suppression |
| title | Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires |
| title_full | Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires |
| title_fullStr | Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires |
| title_full_unstemmed | Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires |
| title_short | Hierarchal Application of Receding Horizon Synthesis and Dynamic Allocation for UAVs Fighting Fires |
| title_sort | hierarchal application of receding horizon synthesis and dynamic allocation for uavs fighting fires |
| topic | Reactive synthesis receding horizon temporal motion planning distributed controllers unmanned aerial vehicles (UAVs) aerial fire suppression |
| url | https://ieeexplore.ieee.org/document/8568978/ |
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