Wild-land fire fighting is a hazardous job. A key task for firefighters is to observe the “fire front” to chart the progress of the fire and areas that will likely spread next. Lack of information of the fire front causes many accidents. Using unmanned aerial vehicles (UAVs) to cover wildfire is promising because it can replace humans in hazardous fire tracking and significantly reduce operation costs. In this paper, we propose a distributed control framework designed for a team of UAVs that can closely monitor a wildfire in open space, and precisely track its development. The UAV team, designed for flexible deployment, can effectively avoid in-flight collisions and cooperate well with neighbors. They can maintain a certain height level to the ground for safe flight above fire. Experimental results are conducted to demonstrate the capabilities of the UAV team in covering a spreading wildfire.

中文翻译：

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一种用于动态野火跟踪的多无人机分布式控制框架

野外灭火是一项危险的工作。消防员的一项关键任务是观察“火锋”，以绘制出火势的进展和接下来可能蔓延的区域。火灾前线信息的缺乏导致了许多事故。使用无人驾驶飞行器 (UAV) 来掩护野火是有希望的，因为它可以在危险火灾跟踪中取代人类并显着降低运营成本。在本文中，我们提出了一个专为无人机团队设计的分布式控制框架，可以密切监控开放空间的野火，并精确跟踪其发展。为灵活部署而设计的无人机团队，可有效避免飞行中的碰撞并与邻国进行良好的合作。它们可以与地面保持一定的高度水平，以便在火场上方安全飞行。