Decentralized FTCC of Multi-UAVs for Cooperative Forest Fire Monitoring

Forest fire has been one of the most dangerous threats to the forest, wildlife, and firefighters, causing disastrous economic problems and unrepairable environmental effects (Hossain et al. (J Unmanned Veh Syst 8:285–309, 2020) , Merino et al. (J Intell Robot Syst 65(1–4):533–548, 2012), Mysorewala et al. (J Intell Robot Syst 54(4):535–565, 2009), Yuan et al. (Can J Forest Res 45(7):783–792, 2015)). Nowadays, the traditional human fire-fighting methods are still widely used, and the firefighters usually go to the fire scene to put out the fire, imposing fatal threats to the safety of firefighters. Forest fire fighting is usually based on the visual observations from the fire-fighting experts, which may cause calamitous results if the spread direction of the forest fire, easily changed by the varied wind direction, is not monitored promptly (Merino et al. (Automatic forest fire monitoring and measurement using unmanned aerial vehicles, in International Congress on Forest Fire Research, Coimbra, Portugal, 2010)). Since UAV can provide the aerial image of the forest fire, observe the spread direction, and put out the forest fire by spraying water or launching fire extinguishing bombs, it is a desired platform for forest fire monitoring and fighting (Hossain et al. (J Unmanned Veh Syst 8:285–309, 2020), Skorput et al. (The use of unmanned aerial vehicles for forest fire monitoring, in International Symposium on Electronics in Marine, Zadar, Croatia, 2016), Sudhakar et al. (Comput Commun 149:1–16, 2020), Wardihani et al. (J Eng Technol 13(6):1587–1594, 2018), Yuan et al. (J Intell Robot Syst 88(2–4):635–654, 2017), Yuan, et al. (Can J Forest Res 45(7):783–792, 2015)).