# A Cyber-Physical System for Wildfire Detection and Firefighting
## 3 Materials and Methods
### Nuclio Serverless Function
## 7 Future Research

Although the collaborative robotic system presented in this paper has shown promising results, there are several challenges and opportunities for future research and development:

* Alternative Communication Technologies: Exploring alternative communication technologies such as LoRa could extend the range and battery life of the IoT node, enhancing its capabilities in remote and energy-constrained environments. * Cloud Service Integration: Investigating the integration of cloud services to store humidity and temperature data in a Cloud NoSQL database could enable the training of machine learning models for fire prediction, enhancing the proactive capabilities of the IoT system. * Advanced Sensor Technology: Upgrading the IoT system's sensor technology with advanced sensors such as thermal cameras could improve its fire detection capabilities and enhance the accuracy of fire location identification. * Migration to ROS2: Exploring the migration of the Rover's ROS services from ROS to ROS2 could improve the performance of the ROS node execution and ensure compatibility with the latest advancements in the ROS ecosystem. * Localization Optimization: Fine-tuning the parameters of the Extended Kalman Filter (EKF) for localization could lead to further improvements in the UGV's movement precision, resulting in more efficient and effective fire extinguishing operations. * Swarm Robotics: Extending the system's capabilities by implementing a swarm of drones, rovers, and IoT nodes that collaborate and communicate with each other could enhance fire detection and extinguishing capabilities, enabling more efficient and comprehensive firefighting operations. * Real-World Deployment: Testing and deploying the system in real-world scenarios to evaluate its effectiveness and performance under practical conditions would provide valuable insights and validation of its capabilities. In conclusion, our work introduces a CPS architecture specifically designed for early-stage wildfire detection and firefighting. We have proposed a state-of-the-art solution that leverages low-cost IoT sensors and ROS-based collaborative unmanned robots to address the critical issue of wildfires. It is crucial to emphasize that our research is currently in an initial phase. The system we have developed is primarily intended to detect and combat wildfires at their early stages, rather than when they have already escalated. We acknowledge that the effectiveness of our system has been analyzed solely in simulated scenarios, and there are still ongoing development challenges that may arise in real-world situations. Therefore, further refinement and real-world experimentation are necessary to validate the performance and effectiveness of our proposed architecture. We are aware of the need for additional work to address potential challenges that may be encountered in actual fire scenarios. The future research directions outlined above offer exciting possibilities for further advancements in this field, ultimately leading to more advanced and capable systems in the future. This work contributes valuable insights and sets the stage for continued research and development in the area of collaborative robotic systems for firefighting. [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON] and [PERSON] contributed to the design and implementation of the research, to the analysis of the results and to the writing of the manuscript. All authors have read and agreed to the published version of the manuscript. This research received no external funding. All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards. Not applicable. The authors declare no conflicts of interest. ## References

* (1) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Information Sharing Among Disaster Responders--An Interactive Spreadsheet-Based Collaboration Approach.