IoT-Enabled Autonomous System Collaboration for Disaster-Area Management  

作　　者：Abenezer Girma Niloofar Bahadori Mrinmoy Sarkar Tadewos G.Tadewos Mohammad R.Behnia M.Nabil Mahmoud Ali Karimoddini Abdollah Homaifar 

机构地区：[1]IEEE [2]Department of Electrical and Computer Engineering,North Carolina A&T State University,Greensboro,NC 27411 USA

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第5期1249-1262,共14页自动化学报（英文版）

基　　金：supported partially by AirForce Research Laboratory,the Office of the Secretary of Defense(OSD)(FA8750-15-2-0116);the National Science Foundation(NSF)(1832110);the National Institute of Aerospace and Langley(C16-2B00-NCAT)。

摘　　要：Timely investigating post-disaster situations to locate survivors and secure hazardous sources is critical,but also very challenging and risky.Despite first responders putting their lives at risk in saving others,human-physical limits cause delays in response time,resulting in fatality and property damage.In this paper,we proposed and implemented a framework intended for creating collaboration between heterogeneous unmanned vehicles and first responders to make search and rescue operations safer and faster.The framework consists of unmanned aerial vehicles(UAVs),unmanned ground vehicles(UGVs),a cloud-based remote control station(RCS).A light-weight message queuing telemetry transport(MQTT)based communication is adopted for facilitating collaboration between autonomous systems.To effectively work under unfavorable disaster conditions,antenna tracker is developed as a tool to extend network coverage to distant areas,and mobile charging points for the UAVs are also implemented.The proposed framework’s performance is evaluated in terms of end-to-end delay and analyzed using architectural analysis and design language(AADL).Experimental measurements and simulation results show that the adopted communication protocol performs more efficiently than other conventional communication protocols,and the implemented UAV control mechanisms are functioning properly.Several scenarios are implemented to validate the overall effectiveness of the proposed framework and demonstrate possible use cases.

关 键 词：Architectural analysis and design language(AADL)and cloud computing disaster area management internet of things(IoT) message queuing telemetry transport(MQTT) unmanned aerial vehicle(UAV) unmanned ground vehicle(UGV) 

分 类 号：D035[政治法律—政治学] TN929.5[电子电信—通信与信息系统] TP391.44[电子电信—信息与通信工程]