Urban Firefighting Drones: Precise Throwing from UAV

Abstract In recent years, the use of unmanned aerial vehicles has spread across different fields industry due to their ease deployment and minimal operational risk. Firefighting is a dangerous task for humans involved, in which UAVs presents itself as good first-action protocol rapid response an incipient fire because safety speed action. Current research mainly focused on wildland fires, but fires urban environments are barely mentioned bibliography. To motivate this topic, ICUAS’22 organized international competition inspired by mission, with challenge UAV traversing area populated obstacles, finding target, precisely throwing ball it. For competition, Computer Vision Aerial Robotics (CVAR-UPM) team developed solution composed multiple modules structured mission planner. paper, we describe our approach architecture that led us be awarded first prize competition.