The document reviews 5 research papers on firefighting robots. The papers discuss developing robots that can detect and extinguish fires autonomously using various technologies like DTMF, genetic algorithms for path planning, and sensors to detect smoke, temperature and flames. One paper describes a robot equipped with CO2 and water tanks that can handle different types of fires. The review concludes that firefighting robots can accurately find and put out fires quickly while reducing risks to human firefighters. There is potential for future upgrades to improve sensors, processing power, control range and firefighting capabilities.

1. Review on Fire
Fighting Robot
DELHI TECHNOLOGICAL UNIVERSITY

2. Introduction:
 Fire fighters are primarily tasked to
handle fire incidents, but they are often
exposed to higher risks when
extinguishing fire, especially in
hazardous environments such as in
nuclear power plant, petroleum
refineries and gas tanks.

3. Research Papers:
 Nagesh MS, Deepika T V, Stafford Michahial. Fire Extinguishing Robot IJARCCE Vol. 5,
Issue 12, December 2016
 G.R. Meijer, G.A. Weller, F.C.A. Groen. SENSOR BASED CONTROL FOR AUTONOMOUS
ROBOTS L.O. Hertzberger Computer Science Department (FWI), Volume 3, Issue 9,
September 2018.
 Nor Samsiah Sani, Azavitra Zainal, Development of Fire Fighting Robot (QRob).
Automation, Control and Intelligent Systems. Vol. 9, No. 4, 2021, pp. 97-103. doi:
10.11648/j.acis.20210904.11
 Shubham Mittal, Shiva Mittal. CeaseFire: The Fire Fighting Robot., Communication
Control and Networking (ICACCCN2018) vol.2, no. 4, December 2018, pp. 895-934.
 Jayaraman.G, Dr. N. Muthukumaran. Design and Analysis Fire Fighting Robot.
International Journal of Emerging Technology and Innovative Engineering Volume 5,
Issue 9, September 2019 (ISSN: 2394 – 6598).

4. 1. Nagesh MS, Deepika T V, Stafford Michahial. Fire
Extinguishing Robot
 Research Objective: Development of Fire
Fighting Robot by using the DTMF technology.
 Approach result:
 The Fire Fighting Robot employs DTMF
technology to control the directions of the robot.
 In this paper, the fire detection system using
flame sensor that is capable of sensing the flame
of wavelength range 760 to 1100 nm, and the
sensing range depends on the sensitivity and
varies from 10cm to 1.5feet.

5. 1. Nagesh MS, Deepika T V, Stafford Michahial. Fire
Extinguishing Robot
 Conclusion:
 The robot accurately and efficiently finds the fire and within minimum time after the
fire is detected it is extinguished.

6. 2. G.R. Meijer, G.A. Weller, F.C.A. Groen. SENSOR BASED
CONTROL FOR AUTONOMOUS ROBOTS
 Research Objective: In this paper, a genetic algorithm applied to path planning
of the firefighting robot.
 Approach result:
 The simulation is carried out by using MATLAB, and the experimental simulation is
carried out respectively for the two cases in which there are new static obstacles and
moving obstacles in the environment.

7. 2. G.R. Meijer, G.A. Weller, F.C.A. Groen. SENSOR BASED
CONTROL FOR AUTONOMOUS ROBOTS
 Conclusion:
 The path planning method based on genetic
algorithm can effectively identify and evade
obstacles on the path of robot in complex fire
field based on multi-coupling field sensor system,
and can quickly and accurately determine the
optimal escape and rescue route.
 It can also take the place of firefighters to enter a
complex fire site environment, carry out
detection and removal of obstacles, and provide
time and security for lifesaving.

8. 3. Nor Samsiah Sani, Azavitra Zainal, Development of Fire
Fighting Robot (QRob)
 Research objective: Development of
Autonomous/Mobile assisted firefighting robot
dubbed QRob
 Approach Result:
 Then, adopting differential drive vehicle as the
kinematic model of QRob resulting,
 In both Autonomous and Remote Control Mode
the robot will transmit live video in the form of
FPV (First-person view) to the user with the
receiver.

9. 3. Nor Samsiah Sani, Azavitra Zainal, Development of Fire
Fighting Robot (QRob)
 Conclusion:
 The QRob robot can be used at a place that has a small entrance or in small spaces
because it has a compact structure. The operator is able to extinguish fire using remote
control from longer distance.
 From the experimental results, the robot can sense smokes and fire accurately in a short
time.

10. 4. Shubham Mittal, Shiva Mittal. CeaseFire: The Fire Fighting
Robot
 Research Objective: Development of CO2 based
Fire extinguisher.
 Approach result:
 The planning is mapped in to a continuous grid
map and the method was able to overcome the
limitations of wall following algorithm. Authors
in did the performance analysis of A* algorithm
to determine shortest path of firefighting robot.
 CeaseFire has tanks to pump water and CO2
cylinder spray them on fire; If a fire is found
then the robot will move forwards towards its
location and stop at a safe distance and activate
the pump to spray water and solenoid valve to
dispense CO2 gas.

11. 4. Shubham Mittal, Shiva Mittal. CeaseFire: The Fire
Fighting Robot
 Conclusion:
 The robot monitors the temperature and air
quality in the fire affected site, sends it to
the remote being operated by a firefighter
who can visually survey the situation using
the onboard camera.
 The audio capability of robot can be
optionally leveraged by the firefighter to talk
with the victims caught inside the premises
affected by fire.
 It was equipped with large water tank and
CO2 based fire quenching ability, CeaseFire
can handle many types of fire including
electric fires.

12. 5. Jayaraman.G, Dr. N. Muthukumaran. Design and Analysis
Fire Fighting Robot International Journal of Emerging
Technology and Innovative Engineering
 Research Objective: Development of Fire Fighting robot
with smoke and fire detection sensor.
 Approach result:
 The firefighting robot was designed in such that the robot
can be operated using smoke detection sensor,
temperature sensor detects the temperature and smoke
and when the fire burns it emits a small amount of
infrared light, this light will be received by the IR receiver
on the sensor module.
 We detect the direction of the fire we can use the motors
to move near the fire by driving our motors through the
L293D module.

13. 5. Jayaraman.G, Dr. N. Muthukumaran. Design and Analysis
Fire Fighting Robot International Journal of Emerging
Technology and Innovative Engineering
 Conclusion:
 Robot detects temperature, smoke and flame at
the site where the robot exists. This robot is help
full in those areas where natural calamity and
bomb explosions where occurred. Robot detects
fire and extinguishes the fire with the help of
sprinkler pump.
 If fire is detected with the help of sensors, MCU
operates the water pump mechanism through relay
circuit. its a good solution in implementing the
firefighting robot to help people at the critical
condition.

14. Review Based on All Research Papers
 Review 1st Paper: The DTMF technology which was use for the development of
Firefighter Robot is simple to develop and have high accuracy .
 Review of 2nd Paper: Planning of shortest path by using of Genetic Algorithm on
the 2D static or dynamic environment for the quick response during the rescue
operation.
 Review of 3rd Paper: Qrob is a rescue type Robot which is fast to process the Path
planning because of update version of mobile robot controller i.e. Audrino IDE
2.0
 Review of 4th Paper: Ceasefire robot is equipped with CO2 fire extinguisher
which is very helpful for extinguishing the Electrical fire. There as one more
feature of Mic and speaker attached to the robot.
 Review of 5th Paper: If fire is detected with the help of sensors, MCU operates
the water pump mechanism through relay circuit.

15. Conclusion of my review work
 The robot accurately and efficiently finds the fire by the use DTMF technology
and within minimum time after the fire is detected it is extinguished.
 The path planning method based on genetic algorithm can effectively identify
and evade obstacles on the path of robot in complex fire field based on multi-
coupling field sensor system, and can quickly and accurately determine path.
 The QRob robot can be used at a place that has a small entrance or in small
spaces because it has a compact structure. The operator is able to extinguish fire
using remote control from longer distance.
 The robot monitors the temperature and air quality in the fire affected site. It
was equipped with large water tank and CO2 based fire quenching ability,
CeaseFire can handle many types of fire including electric fires.
 If fire is detected with the help of sensors, MCU operates the water pump
mechanism through relay circuit.

16. Conclusion of my review work
 Future Scope of Review work
1. Expanding and fortifying the robot’s chassis to enable it to carry even more
water and possible a CO2 canister.
2. Upgrading the battery pack, water pump and to combat fires from farther away.
3. Adding more capable and sensitive sensors to detect fire and survivors from
farther and through obstacles.
4. Adding GSM e-sims module to enable full control while still relaying to operators
from much further away.
5. Integrating more advanced Image Processing System (IPS) and System on Chip
(SoC) to increase its processing power to enable faster decision making.

17. Thank You