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<p>Drowning is among the most prevalent causes of death from unintentional injuries worldwide. Because of the time-sensitive nature of swimming accidents and the shortage of lifeguard staff resulting in unsupervised swimming areas, interest in innovative supportive rescue methods increases. In this paper, we introduce an autonomous Unmanned Aircraft System (UAS) that can be employed by Emergency Medical Service (EMS) providers in swimmer rescue scenarios additionally to Standard Rescue Operation (SRO) equipment. The UAS consists of Unmanned Aerial Vehicles (UAVs) and purpose-built hangars located near the swimming area to store the UAVs. When receiving an alert, the UAVs autonomously navigate to the emergency site to conduct a Search and Rescue (S&amp;R) operation for the swimmer in distress. We introduce a Mixed-Integer Linear Programming (MILP) model to address the Facility Location-Allocation Problem (FALP), identifying optimal hangar locations and allocation of UAVs to hangars to serve the demand in the swimming area. Additionally, we present a MILP model to optimize the UAV flight trajectories in advance of the operation, allowing for efficient coordination of a heterogeneous UAV swarm. We apply the presented MILP models to a real-world scenario in the Lusatian Lake District, Eastern Germany using the state-of-the-art commercial solver CPLEX to solve the instances.</p>

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Autonomous Unmanned Aircraft Systems for Enhanced Search and Rescue of Drowning Swimmers: Location-Allocation Optimization and Flight Trajectory Planning

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年8月1日

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  • Sascha Emanuel Zell,
  • Toni Schneidereit,
  • Armin Fügenschuh,
  • Michael Breuß

摘要

Drowning is among the most prevalent causes of death from unintentional injuries worldwide. Because of the time-sensitive nature of swimming accidents and the shortage of lifeguard staff resulting in unsupervised swimming areas, interest in innovative supportive rescue methods increases. In this paper, we introduce an autonomous Unmanned Aircraft System (UAS) that can be employed by Emergency Medical Service (EMS) providers in swimmer rescue scenarios additionally to Standard Rescue Operation (SRO) equipment. The UAS consists of Unmanned Aerial Vehicles (UAVs) and purpose-built hangars located near the swimming area to store the UAVs. When receiving an alert, the UAVs autonomously navigate to the emergency site to conduct a Search and Rescue (S&R) operation for the swimmer in distress. We introduce a Mixed-Integer Linear Programming (MILP) model to address the Facility Location-Allocation Problem (FALP), identifying optimal hangar locations and allocation of UAVs to hangars to serve the demand in the swimming area. Additionally, we present a MILP model to optimize the UAV flight trajectories in advance of the operation, allowing for efficient coordination of a heterogeneous UAV swarm. We apply the presented MILP models to a real-world scenario in the Lusatian Lake District, Eastern Germany using the state-of-the-art commercial solver CPLEX to solve the instances.