Skip to content
Ekonomiczne Problemy Usług

Previously: Zeszyty Naukowe Uniwersytetu Szczecińskiego. Ekonomiczne Problemy Usług

nr 124 2016
OpenAlex

Data describes this article or chapter.

Record found in the database

Citations
1
References
7
Citations by year
YearCitations
20211

Data retrieved:

View source (new tab)
OpenCitations

Data describes this article or chapter.

Citations
0

Data retrieved:

View source (new tab)
Google Scholar
Find in Google Scholar (new tab)

A formal model for planning and controlling search and rescue actions at sea

DOI: 10.18276/epu.2016.124-03
Cite

The full text is available

ISSN:1896-382X
eISSN:2353-2866
Authors: Dario Medić
University of Split Faculty of Maritime Studies

Anita Gudelj
University of Split Faculty of Maritime Studies

Maja Krćum
University of Split Faculty of Maritime Studies
Keywords: UAV Petri net modeling conflict avoidance
Issue / book publication date:2016
Page range:11 (27-37)
OAI-PMH:Metadata
CC BY-SA Open Access DOAJ
QR code

Abstract

Recently, during search and rescue actions at sea, Unmanned Aerial Vehicles (UAVs) have been used. Onboard decision capabilities allow an UAV vehicle to reach the entity that is in dis­tress at sea. UAVs are launched within a few minutes to begin search actions. When the exact location of the irtjured entity is detected, a rescue action should begin. According to the collected information about the vessel's position, manoeuvrability, and velocity, the control centre deter­mines which vessel is to be engaged in the rescue action. This highly autonomous system can be described as a discrete event system. Certain states of such systems, such as collisions, are undesirable. This paper presents implementation of information flow to supervise, control, and monitor the behaviour of the UAVs during the search, to avoid collisions and to communicate with computational onboard sub-systems. Planning algorithms and coloured Petri nets are used to specify different phases of the mission execution. When a certain UAV detects an injured entity, alternative encoded reactions are triggered and a control centre starts implementing the rescue plan.

PDF

Download PDF
Preview PDF

Open PDF

Bibliography

  1. Alejo, D., Dıaz-Banez, J.M., Cobano, J.A., P´erez-Lantero, P., Ollero, A. (2013). The velocity assignment problem for conflict resolution with multiple aerial vehicles sharing airspace. Journal of Intelligent & Robotic Systems, 69 (1), 331‒346.
  2. Capar, R. (1989). Traganje i spašavanje ljudi na moru. Rijeka: Fakultet za pomorstvo i saobraćaj.
  3. IAMSAR Manual (2010). Mobile Facilities. Vol. 3. London–Montreal: IMO Publishing.
  4. Jensen, K. (1992). Coloured Petri Nets: Basic Concepts, Analysis Methods and Practical Use, vol. 2., Heidelberg: Springer.
  5. Kezić, D., Gudelj, A. (2010). Design of River System Deadlock Avoidance Supervisor By Using Petri Net. PROMET, 22 (3), 215‒221.
  6. Maza, I., Caballero, F., Capitan, J., Martinez-de Dios, J., Ollero, A. (2011). A distributed architecture for a robotic platform with aerial sensor transportation and self-deployment capabilities. Journal of Field Robotics, 28 (3), 303–328.
  7. MERSAR Manual (1993). London: IMO Publishing.
  8. Murata, T. (1989). Petri Nets: Properties, Analysis, and Applications. Proceedings of the IEEE, 77 (4), 541–580.
  9. Ribarić, S., Šnajder, J. (2005). Mapping Petri Net-Based Temporal Knowledge Representation Scheme into CP-Net Model. Proceedings of the 28th International Convention: MIPRO 2005 Opatija, 134‒139.
  10. Skrzypietz, T. (2012). Unmanned Aircraft Systems for Civilian Missions. Potsdam, Deutschland: Brandenburg Institute for Society and Security.