# A Cyber-Physical System for Wildfire Detection and Firefighting
## 3 Materials and Methods
### Nuclio Serverless Function
The integration of smart cameras and infrared sensors enables real-time detection of flames, which is essential for quickly identifying and responding to wildfires. Furthermore, the system incorporates a CO2 sensor for real-time monitoring of carbon monoxide levels in the air, which can help measure the severity of the fire and the level of danger it poses to nearby communities. The data collected by the IoT system is sent to a ground control station, which can visualize the data through a web-based dashboard, allowing for efficient and effective decision-making in response to a wildfire. The system can also trigger appropriate response measures, such as sending alerts to local authorities and emergency services, as well as unmanned systems, for an immediate and coordinated response. The proposed CPS architecture integrates unmanned systems, including Unmanned Aerial and Ground Vehicle, which provide the advantage of quickly identifying the exact fire location and suppressing the fires. The UAV is capable of navigating and exploring its surroundings while avoiding obstacles, detecting a fire, and releasing a fire extinguisher

Figure 14: Navigation path pattern to detect fire. Figure 15: Search of the fire. ball to simulate fire suppression. Furthermore, the UAV can share geographical coordinates with the UGV to guide it to the exact fire location. The UGV can automatically navigate into the forest, reaching the fire spots, and suppressing the fire using water or a chemical extinguisher. Its control system utilizes advanced planning algorithms, including [PERSON]'s algorithm for global planning and the Dynamic Window Approach (DWA) for local planning, enabling obstacle avoidance and efficient path selection. ### Considerations from the Evaluation Study in a Simulated Environment

The proposed CPS architecture showcased the integration of various open-source technologies in the evaluation study conducted in a simulated ROS environment. This practical demonstration makes the architecture applicable in diverse settings, such as industries, surveillance, and precision agriculture, where cyber-physical systems can be effectively utilized. The Unmanned Aerial Vehicle (UAV) displayed its autonomous capabilities during testing, successfully locating and suppressing fires while navigating simulated tree obstacles. The UAV proved valuable in fire detection and suppression operations as an aerial support platform. It enhances situational awareness by providing a bird's-eye view of the fire and can intervene in scenarios where the Unmanned Ground Vehicle (UGV) faces limitations or challenges. By combining the UAV with the UGV and wildfire detection systems, the solution covers a broader range of fire scenarios in diverse forest environments, from rural areas to urban parks. The synergy between the UGV and UAV optimizes the efficiency and effectiveness of fire suppression operations, leveraging the unique strengths of each platform. However, it is important to consider limitations and capabilities related to obstacle avoidance, such as the computational complexity of calculating avoidance paths and the maximum supported speed. Other factors such as flight range, battery life, payload capacity, and compliance with regulations during UAV deployment require careful attention to optimize its effectiveness in supporting fire suppression efforts. ### Limitations in Real-World Scenarios

The implementation of a cyber-physical system for wildfire detection and firefighting is undoubtedly a promising approach to combating forest fires. However, several real-world limitations need to be considered to ensure the effectiveness and feasibility of such a system in concrete scenarios. One significant limitation is the challenging atmospheric stability conditions present in close proximity to forest fires. The unstable nature of the environment, characterized by intense gusts of wind and sudden changes in direction, poses a considerable challenge for flying objects. Moreover, such objects would be exposed to extremely high temperatures.