Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs)have been used in research and development community due to their strong potential in high-risk missions.One of the most important civilian implementatio...Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs)have been used in research and development community due to their strong potential in high-risk missions.One of the most important civilian implementations of UAV/UGV cooperative path planning is delivering medical or emergency supplies during disasters such as wildfires,the focus of this paper.However,wildfires themselves pose risk to the UAVs/UGVs and their paths should be planned to avert the risk as well as complete the mission.In this paper,wildfire growth is simulated using a coupled Partial Differential Equation(PDE)model,widely used in literature for modeling wildfires,in a grid environment with added process and measurement noise.Using principles of Proper Orthogonal Decomposition(POD),and with an appropriate choice of decomposition modes,a low-dimensional equivalent fire growth model is obtained for the deployment of the space-time Kalman Filtering(KF)paradigm for estimation of wildfires using simulated data.The KF paradigm is then used to estimate and predict the propagation of wildfire based on local data obtained from a camera mounted on the UAV.This information is then used to obtain a safe path for the UGV that needs to travel from an initial location to the final position while the UAV’s path is planned to gather information on wildfire.Path planning of both UAV and UGV is carried out using a PDE based method that allows incorporation of threats due to wildfire and other obstacles in the form of risk function.The results from numerical simulation are presented to validate the proposed estimation and path planning methods.展开更多
This paper discusses participatory processes in wildland fire management （WFM）. Participation is an essential element of both the European Sustainable Development （SD） Strategy and the White Paper on Governance. G...This paper discusses participatory processes in wildland fire management （WFM）. Participation is an essential element of both the European Sustainable Development （SD） Strategy and the White Paper on Governance. Governance end SD have thus become an interconnected challenge to be applied to WFM （as a sub-area in forest policy）, amongst other policies. An overspread weakness in WFM is lack of real participation of stakeholders. Absence of （or deficient） participation can seriously impair contribution of this group to WFM in high-risk areas and runs counter governance and the SDS. Further, this weakness might prevent an efficient use of fire as a land management tool （prescribed burning, PB） and as a technique for fighting wildfire （suppression fire, SF）. Even though these fire practices have been well known in many different places, they have been increasingly neglected or Prohibited over time in Southern Europe. At present, forest and fire fighting administrations are turning their eyes back on them and analyzing the benefits of using fire in relation to preventive and suppressive actions. Therefore, participatory and diffusion mechanisms （the latter adopting the shape of national and international experts＇ networks） are required in order to solve the so- called fire paradox： that is, the need to move from a one-dimensinnal perception of the negative impacts of fire to a more sophisticated one that also stresses its positive effects. Governance, based on broad social participation, and diffusion, through fire networks, are of utmost importance in order, first, to diminish long-standing suspicion amongst different interests as to the use of fire and, secondly, to diffuse best practices associated with PB and SF. Most importantly, the ELI should exercise its environmental leadership so that these new fire practices and sustainable WFM are diffused across the international arena.展开更多
文摘Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs)have been used in research and development community due to their strong potential in high-risk missions.One of the most important civilian implementations of UAV/UGV cooperative path planning is delivering medical or emergency supplies during disasters such as wildfires,the focus of this paper.However,wildfires themselves pose risk to the UAVs/UGVs and their paths should be planned to avert the risk as well as complete the mission.In this paper,wildfire growth is simulated using a coupled Partial Differential Equation(PDE)model,widely used in literature for modeling wildfires,in a grid environment with added process and measurement noise.Using principles of Proper Orthogonal Decomposition(POD),and with an appropriate choice of decomposition modes,a low-dimensional equivalent fire growth model is obtained for the deployment of the space-time Kalman Filtering(KF)paradigm for estimation of wildfires using simulated data.The KF paradigm is then used to estimate and predict the propagation of wildfire based on local data obtained from a camera mounted on the UAV.This information is then used to obtain a safe path for the UGV that needs to travel from an initial location to the final position while the UAV’s path is planned to gather information on wildfire.Path planning of both UAV and UGV is carried out using a PDE based method that allows incorporation of threats due to wildfire and other obstacles in the form of risk function.The results from numerical simulation are presented to validate the proposed estimation and path planning methods.
基金the FIRE PARADOX Integrated Project, "An innovative approach of Integrate Wildland Fire Management Regulating the Wildfire Problem by the Wisuse of Fire: solving the Fire Paradox", financed by the VI Framewor Programme, Sub-priority 6.3 Global Change and Ecosystem
文摘This paper discusses participatory processes in wildland fire management （WFM）. Participation is an essential element of both the European Sustainable Development （SD） Strategy and the White Paper on Governance. Governance end SD have thus become an interconnected challenge to be applied to WFM （as a sub-area in forest policy）, amongst other policies. An overspread weakness in WFM is lack of real participation of stakeholders. Absence of （or deficient） participation can seriously impair contribution of this group to WFM in high-risk areas and runs counter governance and the SDS. Further, this weakness might prevent an efficient use of fire as a land management tool （prescribed burning, PB） and as a technique for fighting wildfire （suppression fire, SF）. Even though these fire practices have been well known in many different places, they have been increasingly neglected or Prohibited over time in Southern Europe. At present, forest and fire fighting administrations are turning their eyes back on them and analyzing the benefits of using fire in relation to preventive and suppressive actions. Therefore, participatory and diffusion mechanisms （the latter adopting the shape of national and international experts＇ networks） are required in order to solve the so- called fire paradox： that is, the need to move from a one-dimensinnal perception of the negative impacts of fire to a more sophisticated one that also stresses its positive effects. Governance, based on broad social participation, and diffusion, through fire networks, are of utmost importance in order, first, to diminish long-standing suspicion amongst different interests as to the use of fire and, secondly, to diffuse best practices associated with PB and SF. Most importantly, the ELI should exercise its environmental leadership so that these new fire practices and sustainable WFM are diffused across the international arena.
