Wip abstract: A quadcopter swarm for active monitoring of smog propagation

Zhijian He, Shuai Li, Zhaoyan Shen, Muhammad Umer Khan, Zili Shao, Qixin Wang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)


Cyber-physical system (CPS) features the interaction between embedded systems and the physical world. In this paper, we focus on a CPS using unmanned quadcopters to interact with the environment to monitor smog propagation. Our quadcopters shall be equipped with various sensors including smog sensor, wind speed sensor, and GPS; and shall be able to fly omni-directionally in open air space. Compared to ground sensing, our approach shall enable 3D monitoring of smog propagation. Compared to conventional balloon based aerial sensing, the vast number of cheap quadcopters and high mobile speed shall enable better monitoring granularity and adaptability. In our preliminary study [1], we start with modeling and optimizing the control of a single quadcopter, taking into consideration partial differential equations governing the smog propagation, and nonlinear dynamic model of the quadcopter. The optimized single quadcopter control strategy is then extended for multiple quadcopters, under an additional formation control constraint. The strategy is validated with simulation. Effort is now underway to implement the preliminary study strategy in Arduino based quadcopters. Through this study, we aim not only to realize a novel CPS application, but also to build a experiment test-bed, to explore insights on how to exploit prior-knowledge to optimize interactions between embedded robotic systems and physical world in CPS.
Original languageEnglish
Title of host publicationACM/IEEE 6th International Conference on Cyber-Physical Systems, ICCPS 2015
PublisherAssociation for Computing Machinery, Inc
Number of pages1
ISBN (Electronic)9781450334556
Publication statusPublished - 14 Apr 2015
Event6th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2015 - Seattle, United States
Duration: 14 Apr 201516 Apr 2015


Conference6th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Hardware and Architecture


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