Forest Fire Fighting Using Heterogeneous Ensemble of Unmanned Aerial Vehicles

This work presents a novel approach to forest fight fighting using a heterogeneous ensemble of unmanned aerial vehicles of different types, which can perform patrol, confirmation, monitoring, and extinguishing missions. Their coordinated teamwork allows suppressing of the forest fires in the places not easily accessible by humans due to involving vehicles specially equipped with fire-extinguishing tools. The functions and missions of the ensemble as well as its architecture are considered. The coordination model based on the case-scenario control system and joint coordination framework of the heterogeneous ensemble is presented. The proposed model provide the required credibility and efficiency of fire response.