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In post-disaster environments, rapid coordination and communication are essential for effective search and rescue operations. This work presents EdgeSwarm, an integrated system combining UAVs and autonomous ground robots, connected via an opportunistic ad hoc network. The system leverages frequency-based data aggregation and edge computing to enable real-time decision-making and resource allocation. Communication is managed through MQTT, ensuring robust data transfer in fragmented network conditions typical of disaster zones. Throughput analysis shows RTSP providing the highest performance for video transmission at 1400 Kbps, while message delivery times are maintained under 250 ms. Despite increasing network size, QoS 2 of MQTT exhibited lower latency and ensured reliable message delivery, while QoS 0 showed the highest latency at 320 ms. The system demonstrates improved efficiency in resource deployment and significant reductions in response time during disaster simulations. This approach provides a scalable, fault-tolerant solution adaptable to various real-world disaster scenarios.

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EdgeSwarm: Edge-Enabled Opportunistic UAV Network-Assisted Robotic Swarm for Post-Disaster Relief

  • 会议论文

  • 发表日期：

    2025年

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  • Amartya Mukherjee,
  • Nirban Roy,
  • Shreyan Kundu,
  • Ayan Panja,
  • Souvik Chatterjee

摘要

In post-disaster environments, rapid coordination and communication are essential for effective search and rescue operations. This work presents EdgeSwarm, an integrated system combining UAVs and autonomous ground robots, connected via an opportunistic ad hoc network. The system leverages frequency-based data aggregation and edge computing to enable real-time decision-making and resource allocation. Communication is managed through MQTT, ensuring robust data transfer in fragmented network conditions typical of disaster zones. Throughput analysis shows RTSP providing the highest performance for video transmission at 1400 Kbps, while message delivery times are maintained under 250 ms. Despite increasing network size, QoS 2 of MQTT exhibited lower latency and ensured reliable message delivery, while QoS 0 showed the highest latency at 320 ms. The system demonstrates improved efficiency in resource deployment and significant reductions in response time during disaster simulations. This approach provides a scalable, fault-tolerant solution adaptable to various real-world disaster scenarios.