# Revolutionizing Urban Pest Management with Sensor Fusion and Precision Fumigation Robotics
## 3 Mapping and Hotspot Identification
### Dynamic Map Update
### Comparison of Existing Robots with the Proposed Robot

A comparison between the fumigation operation of existing precision spray robots and the proposed precision fumigation robot is illustrated in Table 7. Most precision fumigation robots developed [29, 30, 31, 32] so far are tailored for agricultural settings, focusing on optimizing pesticide application in controlled crop environments. These systems, such as those utilizing YOLOv5 and other AI techniques, excel in targeted spraying but lack the adaptability for complex urban landscapes. They are not designed to navigate dynamic urban environments, where the challenges of real-time mapping, precise hotspot detection, \begin{table}
\begin{tabular}{l c c} \hline \hline
**Aspect** & **Continuous Fumigation** & **Precision Fumigation** \\ \hline Area Covered & Entire area (20 m\({}^{2}\)) & Identified hotspots (3 hotspots) \\ Robot Speed & 0.5 m/s & 0.5 m/s \\ Fumigation Time per m\({}^{2}\) & 2 s & 5 s per hotspot \\ Total Fumigation Time & 40 s & 15 s \\ Chemical Usage Rate & 330 mL/min & 330 mL/min \\ Total Chemical Used & 220 ml & 82.5 ml \\ Chemical Savings & N/A & 62.5\% (137.5 mL less than continuous) \\ Environmental Impact & Higher due to full area coverage & Lower due to targeted application \\ Efficiency & Lower, as it treats the entire area & Higher, with focused treatment of hotspots \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Comparative analysis of continuous fumigation versus precision fumigation using a precision fumigation robot. The table highlights key differences in area coverage, fumigation time, chemical usage, environmental impact, and overall efficiency. Figure 13: Comparison between continuous fumigation (**left**) and precision fumigation (**right**) using a precision fumigation robot. The continuous fumigation approach covers the entire area indiscriminately, whereas the precision fumigation approach targets specific hotspots identified within the area, such as potted plants and dustbins. The blue path indicates the robot’s movement, while the red-shaded areas represent the regions being fumigated. and autonomous navigation are significantly different. The proposed fumigation robot addresses this gap by integrating advanced sensor fusion and YOLOv8 for dynamic hotspot localization, designed explicitly for urban pest control. It offers precise real-time mapping, sophisticated spatial analysis, and adaptability to the complexities of urban navigation, making it a crucial innovation for effective mosquito management in urban settings. ### Challenges, Possible Solutions, and Future Research Directions

Many challenges were faced during the development of the robot and the detection algorithm. Some of these challenges can be taken up as future research directions. A few of the challenges and their potential solutions are as follows:

* Navigation in complex environments: The differential drive robot is built for navigating in urban environments, where the surface is even and spacious for robot movements. Tracked platforms are effective in handling multiple terrains. However, these platforms consume more energy because they are heavy and bulky, requiring frequent recharging. A modular robot is another future research direction that enables it to change its locomotion system according to the environment. * Battery life is a major limitation restricting the robot's operational time, necessitating frequent recharging. One possible solution is to have frequent, preferably wireless charging stations that allow full autonomy. * Renewable energy sources for charging robots: Researching the use of renewable energy sources, such as solar power, to extend the operational time of robots and reduce their environmental impact, designing more energy-efficient robots to improve their operational longevity and reduce the need for frequent recharging. * Varied environments: Different environments may require different fumigation strategies, such as discrete fumigating motion, continuous fumigation motion, and 360\({}^{\circ}\)