SOScheduler: Toward Proactive and Adaptive Wildfire Suppression via Multi-UAV Collaborative Scheduling

This repository contains the code for reproducing results in the following paper.

@ARTICLE{chen2024soscheduler,
  author={Chen, Xuecheng and Xiao, Zijian and Cheng, Yuhan and Hsia, Chen-Chun and Wang, Haoyang and Xu, Jingao and Xu, Susu and Dang, Fan and Zhang, Xiao-Ping and Liu, Yunhao and Chen, Xinlei},
  journal={IEEE Internet of Things Journal}, 
  title={SOScheduler: Toward Proactive and Adaptive Wildfire Suppression via Multi-UAV Collaborative Scheduling}, 
  year={2024},
  volume={11},
  number={14},
  pages={24858-24871},
  doi={10.1109/JIOT.2024.3389771}}

Getting Started

1. Creating a Python virtual environment is recommended but not required.

   conda create -n sos python=3.11
   conda activate sos

2. Install Requirements

   pip install -r requirements.txt

Reproducing The Results

This repository follows the following structure.

• experiments: general tools for experiments.

• robots: robot models for the planner.

• teams: team models based on the robot models for the planner.

• strategies: different moving and extinguishing strategies for the planner.

• sensors: sensor models (camera and extinguisher) for the robots.

• models: probabilistic model for environemnt state estimation.

• objectives: objective functions for evaluating the performance of the planner.

• simulator: simulator for the wildfire environment.

• simulations: includes simulation configs and results.

• reproduce_bash: bash scripts for reproducing the algorithm.

• main.py: main file for running the experiments.

To reproduce the results in a folder, simply run the corresponding firespeed_reproduce.sh shell script. The results will be saved to the automatically created outputs folder in the current simulations directory.

You can also run a specific experiment with your custom configurations. For example,

python main.py --config "./simulations/configs/{strategy}.yaml" --update_interval 1 --seed 1 --save_dir "./simulations/output/{folder}/" 

Videos