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"Missing Person" in a field trial
UAV used in research
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.

Contents

Current Events

  • Daily Herald article on Lanny's work on modeling the movement of missing persons.
  • See the article in New Scientist on Nathan Rasmussen's work on blending IR and visible spectrum video.

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. 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. 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. 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. 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. 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. 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. 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. 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.  Abstract and paper download available from SPIE.
  • M. Quigley, B. Barber, S. Griffiths, and M. A. Goodrich. 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.  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 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. Bryan Morse, Greg Alldredge, Sam Ogden, Daniel Miller, Brandon Carroll, Daniel Thornton, Carson Fenimore, Josh Abbott

    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

    Community Pages

    Pictures and Video Links

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