Wind Field Estimation by Small UAVs for Rapid Response to Contaminant Leaks

We present a system based on a quadrotor Un-manned Aerial Vehicle for wind field estimation and prediction of contaminant spread, aiming to provide valuable information to first responders and containment crews. In our method, the wind field is estimated based on quadrotor scans over the contaminated area that leverage the onboard sensors of the aerial platform. A dispersion model is computed based on the wind field estimation, and finite element analysis is performed to find the steady state contaminant concentration map. The proposed system enables emergency workers to have a fast response to contaminant leaks in low-wind conditions by estimating the pollutant concentration map over a predetermined area. Simulation results are provided to compare and validate the estimated values obtained by our system when sensor noise is considered.