IoT-Enabled Autonomous System Collaboration for Disaster-Area Management
IoT-Enabled Autonomous System Collaboration for Disaster-Area Management
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DOI：
10.1109/jas.2020.1003291
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发表时间：
2020-09-01
影响因子：
11.8
通讯作者：
Homaifar, Abdollah
中科院分区：
文献类型：
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作者：
Girma, Abenezer;Bahadori, Niloofar;Homaifar, Abdollah
及时调查灾后情况以找到幸存者和确保危险源的安全至关重要，但也非常具有挑战性和风险。尽管第一反应者冒着生命危险拯救他人，但人的身体限制导致反应时间延迟，导致死亡和财产损失。在本文中，我们提出并实现了一个框架，旨在创建异构无人驾驶车辆和第一响应者之间的协作，使搜索和救援行动更安全，更快。该框架由无人机（UAV）、无人地面车辆（UGV）和基于云的远程控制站（RCS）组成。一个轻量级的消息队列遥测传输（MQTT）为基础的通信，以促进自治系统之间的协作。为了在不利的灾害条件下有效地工作，开发了天线跟踪器作为将网络覆盖扩展到遥远地区的工具，并且还实现了无人机的移动的充电点。建议的框架的性能进行评估，在端到端的延迟和分析，使用架构分析和设计语言（AADL）。实验测量和仿真结果表明，所采用的通信协议比其他传统的通信协议执行更有效，和实现的无人机控制机制正常工作。实现了几个场景，以验证所提出的框架的整体有效性，并展示可能的用例。
Timely investigating post-disaster situations to locate survivors and secure hazardous sources is critical, but also very challenging and risky. Despite first responders putting their lives at risk in saving others, human-physical limits cause delays in response time, resulting in fatality and property damage. In this paper, we proposed and implemented a framework intended for creating collaboration between heterogeneous unmanned vehicles and first responders to make search and rescue operations safer and faster. The framework consists of unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), a cloud-based remote control station (RCS). A light-weight message queuing telemetry transport (MQTT) based communication is adopted for facilitating collaboration between autonomous systems. To effectively work under unfavorable disaster conditions, antenna tracker is developed as a tool to extend network coverage to distant areas, and mobile charging points for the UAVs are also implemented. The proposed framework's performance is evaluated in terms of end-to-end delay and analyzed using architectural analysis and design language (AADL). Experimental measurements and simulation results show that the adopted communication protocol performs more efficiently than other conventional communication protocols, and the implemented UAV control mechanisms are functioning properly. Several scenarios are implemented to validate the overall effectiveness of the proposed framework and demonstrate possible use cases.