Fire-Aware Planning of Aerial Trajectories and Ignitions

Evan Beachly, Carrick Detweiler, Sebastian Elbaum, Brittany Duncan, Carl Hildebrandt, Dirac Twidwell, Craig Allen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Prescribed fires can lessen wildfire severity and control invasive species, but they can also be risky and costly. Unmanned aerial systems can reduce those drawbacks by, for example, dropping ignition spheres to ignite the most hazardous areas. Existing systems, however, lack awareness of the fire vectors to operate autonomously, safely, and efficiently. In this work we address that limitation, introducing an approach that integrates a lightweight fire simulator and a planner for trajectories and ignition sphere drop waypoints. Both components are unique in that they are amenable to input from the system's sensors and the fire crew to increase fire awareness. We conducted a preliminary study that confirms that such inputs improve the accuracy of the fire simulation to counter the unpredictability of the target environment. The field study of the system showed that the fire-aware planner generated safe trajectories with effective ignitions leveraging the fire simulator predictions.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages685-692
Number of pages8
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Beachly, E., Detweiler, C., Elbaum, S., Duncan, B., Hildebrandt, C., Twidwell, D., & Allen, C. (2018). Fire-Aware Planning of Aerial Trajectories and Ignitions. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 685-692). [8593568] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593568