Collaborative Research: NRI: Integration of Autonomous UAS in Wildland Fire Management

合作研究：NRI：自主无人机在荒地火灾管理中的整合

• 批准号: 2132798
• 负责人: Mrinal Kumar
• 金额: $ 87.3万
• 依托单位: Ohio State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-01-01 至 2025-12-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2132798&HistoricalAwards=false
• 关键词: Collaborative; Research; NRI; Integration; Autonomous

This research project, in cooperation with the Ohio Department of Natural Resources (Division of Forestry), focuses on autonomous unmanned aerial systems (UAS) for operations in hazardous environments to perform wildfire monitoring during prescribed burns for fire prevention and mitigation. Climate change in the US has exacerbated wildfires and intensified the Department of Natural Resources activities in response. Experts from the areas of forest management and ecology, uncertainty quantification, sensor fusion and data-driven modeling and control collaborate to deploy autonomous aerial robotic systems in unstructured, uncertain, and hazardous fire environments. The research from these collaborations aids wildland-urban planning, preparing for and sustainment of a safe wildland fire response; in particular, this research contributes to understanding how topographic, atmospheric and forest fuel factors in temperate hardwood forests influence fire intensity and rate of spread. This project invites and encourages students to participate in robotics research. Through its outreach activities, the project also informs the general public of the value of robotics research for addressing societal challenges.Theoretical, computational, and experimental methods and materials developed in this work enhance situational awareness and enables autonomous risk-aware decision-making in unstructured and uncertain hazardous environments. UAS path planning will formulate and solve novel resource chance-constrained optimization problems. UAS will bypass computational heavy lifting to generate in-time micro-level local conditions by enabling physics-informed learning through Koopman operator theory. New sensor belief functions will be designed that accurately reflect sensing ignorance contained in hypotheses related to the fire environment. Evidential information fusion will effectively handle sensor epistemic uncertainty and allow reliable integration in an environment where not all data is trustworthy. Data-driven control will enable efficient and reliable operation of autonomous vehicles with uncertain dynamics in real time by using available knowledge of applied inputs and observed outputs, to learn the unknown inputs even without prior training data or persistent excitation. Real-time estimates of disturbance forces and torques acting on an UAS obtained by the disturbance observer will provide information on the turbulence and air flow around a wildland fire region.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该研究项目与俄亥俄州自然资源部（林业司）合作，重点研究在危险环境中操作的自主无人机系统（UAS），以便在规定的烧伤期间进行野火监测，以预防和减轻火灾。美国的气候变化加剧了野火，并加强了自然资源部的应对活动。来自森林管理和生态、不确定性量化、传感器融合和数据驱动建模和控制领域的专家合作，在非结构化、不确定和危险的火灾环境中部署自主空中机器人系统。这些合作的研究有助于荒地城市规划，准备和维持安全的荒地火灾响应；特别是，本研究有助于了解温带阔叶林的地形、大气和森林燃料因素对火灾强度和蔓延速度的影响。本项目邀请并鼓励学生参与机器人研究。通过其推广活动，该项目还告知公众机器人研究对解决社会挑战的价值。在这项工作中开发的理论、计算和实验方法和材料增强了态势感知，并在非结构化和不确定的危险环境中实现了自主风险感知决策。UAS路径规划将制定和解决新的资源机会约束优化问题。UAS将绕过繁重的计算工作，通过通过Koopman算子理论实现物理信息学习，及时生成微观局部条件。将设计新的传感器信念函数，以准确反映与火灾环境有关的假设中包含的感知无知。证据信息融合将有效地处理传感器认知的不确定性，并在并非所有数据都可信的环境中实现可靠的集成。数据驱动控制将利用应用输入和观察输出的可用知识，在没有事先训练数据或持续激励的情况下，学习未知输入，从而使具有不确定动态的自动驾驶汽车实时高效可靠地运行。扰动观测者获得的作用在无人机上的扰动力和扭矩的实时估计将提供有关野火区域周围湍流和气流的信息。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Risk-Aware Path Planning for Unmanned Aerial Systems in a Spreading Wildfire

• DOI: 10.2514/1.g006365
• 发表时间: 2022-07
• 期刊: Journal of Guidance, Control, and Dynamics
• 作者: Rachit Aggarwal;Alexander A. Soderlund;Mrinal Kumar;David J. Grymin

Hybrid A* path search with resource constraints and dynamic obstacles

• DOI: 10.3389/fpace.2022.1076271
• 发表时间: 2023-01
• 期刊: Day 2 Tue, October 03, 2023
• 作者: Alan C. Cortez;Bryce T. Ford;I. Nayak;S. Narayanan;Mrinal Kumar

Effects of Wildland Fuel Composition on Fire Intensity

荒地燃料成分对火灾强度的影响

• DOI: 10.3390/fire6080312
• 发表时间: 2023
• 期刊: Fire
• 作者: Dong, Ziyu;Williams, Roger A.
• 通讯作者: Williams, Roger A.

Backtracking Hybrid Α* for Resource Constrained Path Planning

资源受限路径规划的回溯混合α*

• DOI: 10.2514/6.2022-1592
• 发表时间: 2022
• 期刊: AIAA SCITECH 2022 Forum
• 作者: Ford, Bryce T.;Aggarwal, Rachit;Kumar, Mrinal;Manyam, Satyanarayana G.;Casbeer, David;Grymin, David
• 通讯作者: Grymin, David

Finite-time stable disturbance observer for unmanned aerial vehicles

• DOI: 10.23919/acc53348.2022.9867308
• 发表时间: 2022-06
• 期刊: 2022 American Control Conference (ACC)
• 作者: P. Bhale;Mrinal Kumar;A. Sanyal