[[Image:MissingPerson.jpg|thumbnail|"Missing Person" in a field trial]]
[[Image:ReadyToLaunch.JPG|thumbnail|UAV used in research]]
[[Image:Trailer.jpg|thumbnail|Incident Command Post trailer in a field trial]]
Welcome to the '''WiSAR Wiki'''. '''WiSAR''' stands for '''''Wilderness Search and Rescue'''''. This research project is a joint effort from several research labs in the Computer Science Department, Electronic Engineering Department, and Mechanical Engineering Department to apply new technologies such as Unmanned Aerial Vehicles, Computer Vision Algorithms, and Human Robot Interaction to support Wilderness Search and Rescue.
== Current Events ==
* [http://www.theverge.com/2013/5/10/4318770/canada-draganflyer-drone-claims-first-life-saved-search-rescue Canadian Mounties Use Draganflyer for Rescue]
* See BYU Weekly's interview with Mike and Lanny on WiSAR research [http://www.byutv.org/watch/173-519 here] (story starts at 5:33).
* Here's an article in [http://www.popsci.com/technology/article/2010-07/small-drones-could-replace-search-and-rescue-helos-making-hiker-rescue-faster-and-cheaper Popular Science] describing our work.
* See the article in [http://www.newscientist.com/article/mg20727696.000-cheap-drones-could-replace-searchandrescue-choppers.html New Scientist] on Lanny Lin's work]
* Daily Herald article on [http://www.heraldextra.com/news/local/article_bc1dc5fa-14f7-585c-8b52-467d9ef676dd.html Lanny's work] on modeling the movement of missing persons.
* See the [http://sarbayes.org/blog/01271982972 blog by Charles R. Twardy at SARBayes] on our work on modeling lost person behavior using a Bayesian model. Charles is a renowned expert in the field.
* See the article in [http://www.newscientist.com/article/dn18461-hybrid-video-could-lighten-the-search-and-rescue-load.html?haasFormId=46aa9eea-8158-4b87-8d70-3994c2a1bd64&haasPage=0 New Scientist] on Nathan Rasmussen's work on blending IR and visible spectrum video.
* '''Wednesday, March 2, 2011''' -- Next WiSAR Meeting at noon in '''CS Conference Room
** [[March 16, 2011 Meeting_Notes]] Mike Jones will come to present his work on estimating tree growth, and we can brainstorm about how this could be relevant to estimating how missing persons move as a function of vegetation distribution and density. Perhaps this could lead to some collaboration.
** [[March 2, 2011 Meeting_Notes]] This currently contains ideas for the next agenda
** [[Feb 16, 2011 Meeting_Notes]] This contains some near-term and long-term goals in line with 2011's theme
** [[Feb 2, 2011 Meeting_Notes]] This contains the theme for 2011
** [[June10, 2010 Meeting_Notes]]
* See also the information on [[Field Trials | '''Past Field Trials''']]
== Publications ==
'''Journals are listed first, followed by conferences'''
L. Lin and M. A. Goodrich. A Bayesian Approach to Modeling Lost Person Behaviors Based on Terrain Features in Wilderness Search and Rescue. To appear in
Computational and Mathematical Organization Theory.
M. A. Goodrich. On Maximizing Fan-Out: Towards Controlling Multiple
Unmanned Vehicles. In Human-Robot Interactions in Future Military Operations edited by
M. Barnes and F. Jentsch. Ashgate Publishing, Surrey, England, 2010.
M. A. Goodrich, B. S. Morse, C. Engh, J. L. Cooper, and J. A. Adams.
Towards using Unmanned Aerial Vehicles (UAVs) in Wilderness Search and Rescue:
Lessons from field trials. Interaction Studies , 10(3), pp455-481, 2009.
Copy available on request.
J. A. Adams, C. M. Humphrey, M. A. Goodrich, J. L. Cooper, B. S. Morse, C. Engh and
N. Rasmussen. Cognitive Task Analysis for Developing UAV Wilderness Search Support.
Journal of Cognitive Engineering and Decision Making, 3(1), pp 1-26, 2009. An electronic version of this paper can be accessed from the first author's website.
M. A. Goodrich, B. S. Morse, Damon Gerhardt, J. L. Cooper, M. Quigley,
J. A. Adams, and C. Humphrey. Supporting Wilderness Search and Rescue
using a Camera-Equipped Mini UAV. Journal of Field
Robotics, 25 (1-2), pp89-110, 2008.
[http://www3.interscience.wiley.com/cgi-bin/fulltext/117865012/PDFSTART The paper is available] for free from Wiley InterScience.
J.K. Howlett, T. W. McLain, and M. A. Goodrich. Learning Real-Time A* Path Planner for Unmanned Air Vehicle Target
Sensing. ''AIAA Journal of Aerospace Computing, Information, and Communication''. Volume 3, Number 3, pp. 108-122, March 2006.
R. W. Beard, T. W. McLain, M. A. Goodrich, and E. P. Anderson. [http://http://faculty.cs.byu.edu/~mike/mikeg/papers/BeardMcLainGoodrichAnderson2002.pdf Coordinated Target Assignment and Intercept for Unmanned Air Vehicles] IEEE Transactions on Robotics and Automation, 18(6), pp. 911-922,December 2002.
L. Lin, M. Roscheck, M. A. Goodrich, and B. S. Morse. Supporting Wilderness Search and Rescue with Integrated Intelligence:
Autonomy and Information at the Right Time and the Right Place. In Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence, Special Track
on Integrated Intelligence. , July, 2010, Atlanta, Georgia, USA
B. S. Morse, C. H. Engh, and M. A. Goodrich. [http://faculty.cs.byu.edu/~mike/mikeg/papers/MorseEnghGoodrichHRI2010.pdf UAV Video Coverage Quality Maps and Prioritized Indexing for Wilderness Search and Rescue]. In Proceedings of the 5th ACM/IEEE RAS International
Conference on Human-Robot Interaction. Osaka, Japan, March 2010.
N. Rasmussen, B. Morse, M. Goodrich, and D. Eggett, Fused Visible and Infrared Video for Use in Wilderness Search and Rescue,
Proceedings of the IEEE Workshop on Applications of Computer Vision (WACV), 2009.
L. Lin and M. A. Goodrich. [http://faculty.cs.byu.edu/~mike/mikeg/papers/LinGoodrichIROS2009.pdf UAV Intelligent Path Planning for Wilderness Search and Rescue],
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Oct, 2009 St. Louis, Missouri, USA.
L. Lin and M. A. Goodrich. A Bayesian Approach to Modeling Lost Person
Behaviors Based on Terrain Features in Wilderness Search and Rescue.
Proceedings of the 18th Conference on Behavior Representation in Modeling
and Simulation. Sundance, UT, USA. March 31-April 2, 2009. pp. 49-56.
B. Hardin and M. A. Goodrich.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/papers/hri151-hardin.pdf On Using Mixed-Initiative Control: A Perspective for Managing Large-Scale Robotic Teams]. Proceedings of ACM/IEEE International
Conference on Human-Robot Interaction. March, 2009. San Diego, California
J. Jackson, T. McLain, and M. Goodrich.
Image Resolution-based Path Planning and Metrics for Exhaustive Area Search from Small UAVs
AIAA Infotech@Aerospace Conference, April 2009, Seattle, WA.
Jackson, J., McLain, T., and Goodrich, M. Design and Implementation
of a Panoramic Video System from Multiple Cameras aboard a Small UAV,
AIAA Infotech@Aerospace Conference,
April 2009, Seattle, WA.
B. S. Morse, D. Gerhardt, C. Engh, M. A. Goodrich, N. Rasmussen, D. Thornton, and D. Eggett. Application and Evaluation of Spatiotemporal Enhancement of Live Aerial Video using Temporally Local Mosaics. Proceedings of CVPR 2008: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, June 2008, Anchorage, Alaska.
J. Cooper and M. A. Goodrich.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/papers/p351-cooper.pdf Towards Combining UAV and Sensor Operator Roles in UAV-Enabled Visual Search]. Proceedings of ACM/IEEE International Conference on Human-Robot Interaction, March 2008, Amsterdam, The Netherlands.
M. A. Goodrich, J. L. Cooper, J. A. Adams, C. Humphrey, R. Zeeman, and Brian G. Buss. Using
a Mini-UAV to Support Wilderness Search and Rescue Practices for
Human-Robot Teaming. In ''Proceedings of the IEEE International Conference on Safety, Security and Rescue Robotics'',
Rome, Italy, September 27-29, 2007.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/ papers/GoodrichSSRRCameraReady.pdf Draft of the paper is available here.]
M. A. Goodrich, T. W. McLain, J. D. Anderson, J. Sun, and J. W. Crandall.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/papers/GoodrichHRI2007.pdf Managing Autonomy in Robot Teams: Observations from Four Experiments].
In ''Proceedings of the ACM SIGCHI/SIGART IEEE RAS Conference on Human Robot Interaction''. Arlington,
Virgina, USA. March 8-11, 2007.
J. L. Drury, J. Richer, N. Rackliffe, and M. A. Goodrich.
Comparing Situation Awareness for Two Unmanned Aerial Vehicle Human
Interface Approaches. In Proceedings
of the IEEE International Workshop on Safety, Security and Rescue
Robotics (SSRR). Gaithersburg, MD, USA. August
22-24, 2006.
J. L. Cooper and M. A. Goodrich. Integrating critical
interface elements for intuitive single-display aviation control of
UAVs. Proceedings of SPIE -- Volume 6226
Enhanced and Synthetic Vision 2006, Jacques G. Verly, Jeff J. Guell,
Editors.
[http://spiedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=PSISDG00622600000162260B000001&idtype=cvips&gifs=yes Abstract and paper download available from SPIE].
M. Quigley, B. Barber, S. Griffiths, and M. A. Goodrich.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/papers/QuigleyIROS2005.pdf Towards Real-World Searching with Fixed-Wing Mini-UAVs]
''Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems''. Edmonton, Alberta, Canada. August
2-6.
M. Quigley, M.A. Goodrich, S. Griffiths, A. Eldredge, and R.W. Beard.
[http://faculty.cs.byu.edu/~mike/mikeg/papers/QuigleyGoodrichBeardICRA2005.pdf Target Acquisition, Localization, and Surveillance using a Fixed-Wing, Mini-UAV and Gimbaled Camera]. ''Proceedings of ICRA 2005'', April
18-22, 2005, Barcelona, Spain.
M. Quigley, M. A. Goodrich, and R. W. Beard
[http://faculty.cs.byu.edu/~mike/mikeg/papers/QuigleyGoodrichCIROS2004.pdf Semi-Autonomous Human-UAV Interfaces for Fixed-Wing Mini-UAVs]. ''Proceedings of IROS 2004''. Sept 28-Oct 2,2004, Sendai, Japan.
== Team Members ==
* CS Computer Vision Lab: Prof. [http://cs.byu.edu/faculty/morse_bryan Bryan Morse], Greg Alldredge, Sam Ogden, Daniel Miller, Brandon Carroll, Daniel Thornton, Carson Fenimore, Josh Abbott
* [https://cswiki.cs.byu.edu/HCMI/index.php/Main_Page CS HCMI Lab]: Prof. [http://cs.byu.edu/faculty/goodrich_michael_a Michael Goodrich], Mike Roscheck, [[Lanny Lin]], Spencer Clark, Spencer Gardner, TJ Gledhill
* ME MAGICC Lab: Prof. [http://me.byu.edu/faculty/timmclain/ Tim McLain], Jacob Bishop
== Research Objectives ==
* Investigate how UAVs can be used to support WiSAR operations
* Research how computer vision algorithms can be applied to (multi-spectrum) sensor feeds from the UAV to support WiSAR operations
* Investigate how various HRI techniques affect the performance of WiSAR tasks
== Project Components ==
* [[Flight Check List]] -- Check list of equipment needed for a flight test
* [[Aviones]] -- A UAV simulator
* [[Phairwell]] -- A GUI interface for controlling a UAV
* [[WiSAR Server (WonderBox or Wonder Server)]] -- A video server that services video requests
* [[Video Viewer]] -- Used by a spotter to identify interesting objects from video feeds
* [[Anomaly Detection]] -- Using statistical methods to detect anomalies in video feeds based on pixel colors
* [[Seeability Estimate]] -- Estimate probability of detection based on terrain feature and camera angle, etc.
* [[Manned Aircraft Setup]] -- Something Carson is working on
* [[Infrared Sensing]] -- Something Nathan worked on
* [[Modeling Lost Person Behavior]] -- Use terrain features and past human behavior data (geocaching) to predict lost person movement in the wild
* [[Path Planning]] -- Automatically generate flight plans to maximize amount of probability of detection.
* [[Sliding Autonomy]] -- Allows the operator to preview paths automatically generated using time as control and select the desired combination.
* [[Interactive Probability Map]] -- An interactive interface that allows the operator to dynamically modify suggested probability distribution.
* [[Incident Management System]] -- Used to manage heterogeneous agents (humans, dog, fixed-wing UAVs, quad-rotor UAVs, UGVs) in a WiSAR operation.
== Community Pages ==
* [http://www.outsideonline.com/outdoor-adventure/outdoor-skills/survival/Catch-Me-If-You-Can-20120801.html?page=1 A search for a boy with autism.]
* [http://www.outsideonline.com/outdoor-adventure/An-Interview-With-Robert-Koester-Professor-Rescue-20120711.html Bob Koester's response to the search above.]
* http://www.npr.org/2012/07/23/157239766/cognitive-disability-complicates-search-and-rescue An interview with Bob Koester on NPR's] Talk of the Nation.
* [http://home.nps.gov/applications/digest/headline.cfm?type=Incidents&id=6016 A search with] amazing hardware.
* [http://challenge.gov/DoD/212-uav-forge UAV Forge].
* [http://www.uavoutbackchallenge.com.au/2011/ Australian UAV Search and Rescue competition]
* A collection of [[papers related]] to UAVs, mixed reality interfaces, and situation awareness.
* [http://faculty.cs.byu.edu/~mike/mikeg/papers/AirForce_tech_horizons.pdf Air Force report] on manned and unmanned systems through 2030.
* [http://www.lannyland.com/temp5/Ft_Pickett_Trip_Report_V4.pdf A field report from a recent demo by Remote Sensing Applications Center (RSAC) at Salt Lake city using a UAS to support firefighters]
* [[Team Members Contact Info]]
* [[SVN Usage Guidelines]]
* [[Coding Conventions]]
* [[Areas of Impact]]
* [[A Plan for Moving Forward]] -- Bryan Morse and Mike Goodrich
* [[Next Year Plan | Student Plan for 2009-2010]]
== Pictures and Video Links ==
* [http://www.engadget.com/2012/02/16/lehmann-aviations-lfpv-uav-packs-gps-autopilot-11mp-cam-1080/ An affordable robot kit].
* [http://thetandd.com/animal-rights-group-says-drone-shot-down/article_017a720a-56ce-11e1-afc4-001871e3ce6c.html Animal rights group] says drone shot down.
* [http://securitymanagement.com/news/texas-uav-enthusiast-uses-pilotless-aircraft-uncover-river-contamination-009456?page=0,0 UAV detects illegal pollution].
* [http://vimeo.com/user5626233/videos Walter Arlt's] UAV-based video recordings.
* [http://news.cnet.com/8301-17938_105-20045941-1.html UAV can sense you breathing].
* [http://www.ksl.com/index.php?nid=148&sid=14667693 Some local snowmobilers face the elements until SAR can find them.]
* [http://vimeo.com/channels/cpms#16441706 College video about our work]. Thanks Bryan!
* [http://www.youtube.com/watch?v=Xlrqxhz1iGc BYU UAV video on YouTube]
* [[Detailed info and assignment for the Dry Run | November 14, 2009 Field Trial Pictures]]
* [http://tanglefoot.cs.byu.edu/~lannyl/11-15-08%20Field%20Trial%20Pictures/ November 15, 2008 Field Trial Pictures]
* [[More videos and pictures | More Videos and Pictures]]
* [http://lannyland.blogspot.com/search/label/My%20Research Lanny's blog posts about past field tests and BYU UAV technologies]
* [http://www.engadget.com/2011/02/28/mega-hurtz-paintball-robot-is-the-remote-controlled-armor-plate/ Paintball robot for search and rescue]