# A Cyber-Physical System for Wildfire Detection and Firefighting
## 3 Materials and Methods
### Nuclio Serverless Function
Once identified, the UGV proceeds to extinguish the fire by releasing the extinguisher. Finally, it returns to the home base. 1. In the first test, GPS coordinates were provided to the UGV, leading it to move 100 m within the environment before reaching the fire. The UGV successfully reached the fire in 5 min and 40 s.
2. In the second test, GPS coordinates were given to the UGV, instructing it to move 200 m within the environment before reaching the fire. The UGV reached the fire in 12 min and 27 s.
3. In the third test, GPS coordinates were provided to the UGV, requiring it to move 350 m within the environment before reaching the fire. The UGV reached the fire in 22 min and 12 s.

Throughout all the tests, the UGV demonstrated its ability to autonomously locate and suppress fires, successfully overcoming the obstacles posed by the simulated trees. However, it should be noted that the precision of navigation decreased as the distance to the fire spot increased. This imprecision was primarily attributed to the limitations in odometry accuracy, which was affected by the Extended Kalman Filter parameters' tuning, which is responsible for fusing data from wheel odometry, GPS, and IMU to improve odometry and enable more precise localization of the robot in space, thus enhancing navigation. It is important to note that the current imprecision can not be corrected as it is a result of the simulated execution environment. Additionally, the UGV's design is optimized for operating in extreme terrains, as indicated by the technical specifications of the simulated Jackal robot from Clearpath Robotics ([[https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/](https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/)]([https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/](https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/)), accessed on 18 April 2023). However, it is important to note that the UGV's capabilities are constrained by the limitations of the simulated environment. While the robot's control system is optimized for various scenarios, it may not be able to account for every possible vegetation type or forest condition. The simulated forest environment provides a representative setting for testing and evaluation, but real-world forests can present a wide range of complexities and variations. To account for these limitations, our system incorporates an Unmanned Aerial Vehicle (UAV) as a complementary asset to assist in fire suppression operations. The UAV acts as an aerial support platform, providing additional situational awareness and intervention capabilities when the conditions for the UGV are not favorable or when inaccessible terrains are encountered. By combining the capabilities of both the UGV and UAV, our system aims to address a broader range of fire scenarios in diverse forest environments. It is important to recognize that not all terrain and forest configurations can be covered by the robots alone. In practical applications, the deployment of the UGV and UAV would need to consider access to physically reachable areas and ensure that the robots operate within their specified operational limits. While our system offers a significant advancement in autonomous fire suppression, it is crucial to align the capabilities of the robots with the characteristics and constraints of the target forest environments. ## 5 Discussion

The increasing frequency and severity of wildfires pose a significant threat to the environment, property, and human health. Early detection and rapid response are crucial to mitigating their impact and minimizing the potential devastation. This article has proposed a novel CPS architecture that integrates advanced technologies such as IoT, robotics, and UAV to provide an innovative strategy for the early detection and extinguishing of forest fires. By utilizing low-cost IoT sensors, the proposed system is capable of continuously monitoring potential fire hazards, and taking appropriate measures to prevent a serious threat.