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 frameworkʼ 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.

中文翻译：

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支持物联网的自主系统协作，用于灾区管理

及时调查灾后状况以找到幸存者并确保危险源至关重要，但也非常具有挑战性和风险。尽管急救人员冒着生命危险去救助他人，但人为限制限制了救援时间，导致人员伤亡和财产损失。在本文中，我们提出并实施了一个框架，旨在在异构无人驾驶汽车和急救人员之间建立协作，以使搜索和救援行动更安全，更快捷。该框架包括无人飞行器（UAV），无人地面飞行器（UGV），基于云的远程控制站（RCS）。采用了基于轻量级消息队列遥测传输（MQTT）的通信，以促进自治系统之间的协作。为了在不利的灾难条件下有效工作，开发了天线跟踪器，将其网络覆盖范围扩展到遥远地区，并且还为无人机提供了移动充电点。根据端到端延迟评估了所提出框架的性能，并使用架构分析和设计语言（AADL）对其进行了分析。实验测量和仿真结果表明，所采用的通信协议比其他常规通信协议更有效地执行，并且所实现的无人机控制机制运行正常。实施了几种方案来验证所提出框架的整体有效性并演示可能的用例。无人机的移动充电点也已实现。根据端到端延迟评估了所提出框架的性能，并使用架构分析和设计语言（AADL）对其进行了分析。实验测量和仿真结果表明，所采用的通信协议比其他常规通信协议更有效地执行，并且所实现的无人机控制机制运行正常。实施了几种方案来验证所提出框架的整体有效性并演示可能的用例。无人机的移动充电点也已实现。根据端到端延迟评估了所提出框架的性能，并使用架构分析和设计语言（AADL）对其进行了分析。实验测量和仿真结果表明，所采用的通信协议比其他常规通信协议更有效地执行，并且所实现的无人机控制机制运行正常。实施了几种方案来验证所提出框架的整体有效性并演示可能的用例。实验测量和仿真结果表明，所采用的通信协议比其他常规通信协议更有效地执行，并且所实现的无人机控制机制运行正常。实施了几种方案来验证所提出框架的整体有效性并演示可能的用例。实验测量和仿真结果表明，所采用的通信协议比其他常规通信协议更有效地执行，并且所实现的无人机控制机制运行正常。实施了几种方案来验证所提出框架的整体有效性并演示可能的用例。