Requirements Specification and Integration Architecture for Perception in a Cooperative Team of Forestry Robots

摘要

The SEMFIRE project proposes the development of a multi-robot system to assist in woodland landscaping maintenance tasks for wildfire prevention, addressing in the process several challenges in forestry and field robotics. In this paper, we identify these challenges following a requirement analysis stage and delineated intervention scenarios, proposing detailed specification of the SEMFIRE ecosystem. This includes a technical and functional specification and the integration architecture of the software and hardware system components, with a special focus on the modules responsible for enacting cooperative perception with the team of robots. This team encompasses multiple UAVs and a heavy-duty forestry UGV. A plan for system development, integration and deployment is also described to lay out upcoming work.