A Resource-Efficient Decentralized Sequential Planner for Spatiotemporal Wildfire Mitigation
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866909270451159040 |
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| author | John, Josy Velhal, Shridhar Sundaram, Suresh |
| author_facet | John, Josy Velhal, Shridhar Sundaram, Suresh |
| contents | This paper proposes a Conflict-aware Resource-Efficient Decentralized Sequential planner (CREDS) for early wildfire mitigation using multiple heterogeneous Unmanned Aerial Vehicles (UAVs). Multi-UAV wildfire management scenarios are non-stationary, with spatially clustered dynamically spreading fires, potential pop-up fires, and partial observability due to limited UAV numbers and sensing range. The objective of CREDS is to detect and sequentially mitigate all growing fires as Single-UAV Tasks (SUT), minimizing biodiversity loss through rapid UAV intervention and promoting efficient resource utilization by avoiding complex multi-UAV coordination. CREDS employs a three-phased approach, beginning with fire detection using a search algorithm, followed by local trajectory generation using the auction-based Resource-Efficient Decentralized Sequential planner (REDS), incorporating the novel non-stationary cost function, the Deadline-Prioritized Mitigation Cost (DPMC). Finally, a conflict-aware consensus algorithm resolves conflicts to determine a global trajectory for spatiotemporal mitigation. The performance evaluation of the CREDS for partial and full observability conditions with both heterogeneous and homogeneous UAV teams for different fires-to-UAV ratios demonstrates a $100\%$ success rate for ratios up to $4$ and a high success rate for the critical ratio of $5$, outperforming baselines. Heterogeneous UAV teams outperform homogeneous teams in handling heterogeneous deadlines of SUT mitigation. CREDS exhibits scalability and $100\%$ convergence, demonstrating robustness against potential deadlock assignments, enhancing its success rate compared to the baseline approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_19163 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Resource-Efficient Decentralized Sequential Planner for Spatiotemporal Wildfire Mitigation John, Josy Velhal, Shridhar Sundaram, Suresh Robotics Multiagent Systems This paper proposes a Conflict-aware Resource-Efficient Decentralized Sequential planner (CREDS) for early wildfire mitigation using multiple heterogeneous Unmanned Aerial Vehicles (UAVs). Multi-UAV wildfire management scenarios are non-stationary, with spatially clustered dynamically spreading fires, potential pop-up fires, and partial observability due to limited UAV numbers and sensing range. The objective of CREDS is to detect and sequentially mitigate all growing fires as Single-UAV Tasks (SUT), minimizing biodiversity loss through rapid UAV intervention and promoting efficient resource utilization by avoiding complex multi-UAV coordination. CREDS employs a three-phased approach, beginning with fire detection using a search algorithm, followed by local trajectory generation using the auction-based Resource-Efficient Decentralized Sequential planner (REDS), incorporating the novel non-stationary cost function, the Deadline-Prioritized Mitigation Cost (DPMC). Finally, a conflict-aware consensus algorithm resolves conflicts to determine a global trajectory for spatiotemporal mitigation. The performance evaluation of the CREDS for partial and full observability conditions with both heterogeneous and homogeneous UAV teams for different fires-to-UAV ratios demonstrates a $100\%$ success rate for ratios up to $4$ and a high success rate for the critical ratio of $5$, outperforming baselines. Heterogeneous UAV teams outperform homogeneous teams in handling heterogeneous deadlines of SUT mitigation. CREDS exhibits scalability and $100\%$ convergence, demonstrating robustness against potential deadlock assignments, enhancing its success rate compared to the baseline approaches. |
| title | A Resource-Efficient Decentralized Sequential Planner for Spatiotemporal Wildfire Mitigation |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2407.19163 |