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Wild-land fire fighting is a hazardous job. A key task for firefighters is toobserve the "fire front" to chart the progress of the fire and areas that willlikely spread next. Lack of information of the fire front causes manyaccidents. Using Unmanned Aerial Vehicles (UAVs) to cover wildfire is promisingbecause it can replace humans in hazardous fire tracking and significantlyreduce operation costs. In this paper we propose a distributed controlframework designed for a team of UAVs that can closely monitor a wildfire inopen space, and precisely track its development. The UAV team, designed forflexible deployment, can effectively avoid in-flight collisions and cooperatewell with neighbors. They can maintain a certain height level to the ground forsafe flight above fire. Experimental results are conducted to demonstrate thecapabilities of the UAV team in covering a spreading wildfire.

A Distributed Control Framework of Multiple Unmanned Aerial Vehicles for Dynamic Wildfire Tracking