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Multi-robot 3D coverage path planning for First Responders teams

It is known that the first hours after a disaster are critical to maximize the rescue and recovery of victims. However, in disaster scenarios, with the communication infrastructure damaged and cluttered environment, first responders can be in disadvantage without proper communication and global information about the mission. In this sense, the use of aerial robots have a clear advantage over other kind of robots, since they are able to navigate over large areas faster and with a privileged view from above. This paper proposes a methodology for three-dimensional area coverage using multiple small UAVs based upon a customized cell decomposition algorithm using regular hexagons. The approach has been thoroughly evaluated in different simulated scenarios. We also report on the results of experiments performed with real UAVs in an outdoor environment.