Aerial Worker for Skyscraper Fire Fighting using a Water-Jetpack Inspired Approach

This article is concerned with the utilization of Unmanned Aerial Systems (UASs) for fire fighting purposes in skyscrapers. The water is supplied to these systems through a hose using a water pump in a similar manner as in hydroflight sports. The UAS utilizes this hydro-propulsion to lift the water hose and the water present in it, thus extending its flight time. An adaptive backstepping controller is employed for controlling the water jet in the yaw axis, while considering as disturbance the forces acting along its roll and pitch axes. Simulation results highlighting the system's performance against forces acting on its center of mass are offered.