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This paper presents a method to increase the reliability of UAV sensor fault detection in a multi- UAV context. The method uses additional position estimations that augment individual UAV fault detection system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multiUAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.

The paper presents a system for cooperative fire detection by means of a fleet of networked heterogeneous UAVs. A grid is used to represent the probability of having fire in a certain position within a given area. Different sensors are considered: infrared and visual cameras and a specialized fire sensor. A Bayesian approach is followed for the integration of the sensor readings and the evolution of the grid as new information is available. The paper presents results from actual field experiments of small controlled fires.

The paper presents a system for automatic fire detection based on the use of autonomous aerial vehicles. Particularly, the application of a helicopter with infrared and visual cameras is described. The paper presents the techniques used for fire segmentation in visual and infrared cameras, and the procedures to fuse the data obtained from both of them. Furthermore the paper presents the techniques for automatic geolocation of the detected fire alarms. Experimental results are shown.

This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms. Then summarizes different control techniques including both control architectures and control methods. Furthermore, computer vision techniques for aerial robotics are briefly considered. Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems.