A MICRO PROJECT REPORT ON

FIRE FIGHTERS ROBOT VEHICLE USING AURDINO

Subject- Capstone project

Submitted By :-

ROLL NO. Student’s Name Enrollment No.

08 Varad Manoj Botke 2200310139
18 Mitali Suresh Rathod 2200310154
44 Prashant Mahadev Surve 23410240377
41 Yash Santosh Dadgal 23410240371
66 Bhagyashri Balaji Surushe 23410240381
64 Kartik Dilip Gore 23410240373

Guide By:-

Ms. V. S. Paikine mam

H. O. D. Principal

Ms. V. S. Paikine mam. Dr. B. G. Gawalwad Sir

(Electrical Department ) Government Polytechnic, Washim

DEPARTMENT OF ELECTRICAL ENGINEERING

ACADEMIC YEAR- 2024-2025

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 GOVERNMENT POLYTECHNIC, WASHIM

CERTIFICATE

This is certify that Varad Manoj Botke, Mitali Suresh Rathod, Prashant
Mahadev Surve, Yash Santosh Dadgal, Bhagyashri Balaji Surushe, Kartik
Dilip Gore.

Of Polytechnic Third Year Electrical Engineering Student have submitted a

Capstone projects planning reports of Capstone report planning titled FIRE
FIGHTERS ROBOT VEHICLE USING AURDINO. during academic year
2024-2025 in satisfaction manner in partial fulfillment of requirement for
diploma in Electrical Engineering of MSBTE – Mumbai.

Guide By H.O.D

Ms. V. S. Paikine mam Ms. V. S. Paikine mam

(Lecturer in EE Department) (Electrical Department)

Principal

Dr. B. G. Gawalwad sir

Government Polytechnic, Washim

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 DECLARATION

I declare that this written submissions represent by idea in my own word and
where other ideas or word have been included, I have adequately cited and
referenced and originals sources. I also declare that I have adhered to all
principles of academic honestly and integrity and have not misrepresented or
fabricated or falsified any idea/ data/ facts / source in my submission. I understand
that any evolutions of the above will be cause for disciplinary actions by the
institute and can also evoke panel actions from the source which have thus not
been properly cited or from whom proper permissions has not been taken when
needed.

1. Varad Manoj Botke

2. Mitali Suresh Rathod

3. Prashant Mahadev Surve

4. Yash Santosh Dadgal

5. Bhagyashri Balaji Surushe

6. Kartik Dilip Gore

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 ACKNOWLEDGEMENT

This project is done as a semester project as a part of course titled FIRE

FIGHTING ROBOT VERTICAL USING AURDINO. We are really thankful to
our Principal Mr. B. G. GAWALWALD SIR, H.O.D. Ms. V.S. PAIKINE MAM
and the Project Coordinator Ms. V. S. PAIKINE MAM Electrical Engineering
Department, Government Polytechnic for his invaluable guidance and assistance,
without which the accomplishment of the task would have never been possible.
We are also thankful to Ms. V. S. PAIKINE MAM Project Mentor for giving
this opportunity to explore into the real world and realize the interrelation without
which a project can never progress. In our present project we have chosen the
topic “ FIRE FIGHTING ROBOT VERTICAL USING AURDINO”.
We are also thankful to our present, friends and all staff of ELECTRICAL
ENGINEERING DEPARTMENT, for providing us relevant information and
necessary clarifications, and great support

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 INDEX

Sr. No. Title Page No.

1 INTRODUCTION 8

2 ABSTRACT 9

3 BLOCK DIAGRAM 11

4 PROBLEM FORMULATION 12

5 METHODOLOGY 13

6 HARDWARE IMPLEMENTATION 14

7 DESIGN STRUCTURE 15

8 WORKING CONCEPT OF FIRE 16

FIGHTING ROBOT
9 HARDWARE USED 17

10 ULTRASONIC SENSOR 18

11 FLAME SENSORS 19

12 SERVO MOTORS 20

13 SUBMERSIBLE WATER PUMP 20

14 MOTOR DRIVERS 21

15 TEMPERATUREM SENSOR (LM35) 22

16 RELAY 23

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17 MODE MCU 24

18 DTMF SINGNAL AND DECODER 25

19 DTMF LOW AND HIGH 26

FREQUENCY TONES AND
DECODE

20 DC MOTORS 27

21 PUMP 27

22 PROGRAMMING 27

23 WORKING 28

24 RESULT DISCUSSION 28

25 RESULTS AND CONCLUSIONS 29

26 SOFTWARE USED 30

27 CODING 30-36

28 REFERENCES 37-38

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LIST OF FIGURES AND TABLES

Figure 1: Block Diagram of Fire Fighting robot

Figure 1.1: Fire Fighting Robot
Figure 2. Fire Sensor Module
Figure 3. Arduino Uno microcontroller based development board
Figure 4: Ultrasonic Sensor
Figure 5: Flame Sensor
Figure 6. Servo Motor
Figure 7. Submersible Water Pump Gas Sensor (MQ3)
Figure 8. H Bridge circuit
Figure 9. Temperature Sensor (LM35)
Figure 10. Relay
Figure 11. Mode MCU
Figure 12. Fire Fighting Robot
Figure 13. Flame Sensor

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INTRODUCTION

Robot is a machine that looks like a human being and performs

various complex tasks. There are many types of robots such as fixed
base robot, mobile robot, underwater robot, humanoid robot, space
robot and medicine robot etc. In this paper a FIRE EXTINGUISHING
ROBOT is proposed. This robot is equipped with a single flame sensor
used to sense environmental fire and feed the signals to the
microcontroller in order to trigger the pump which sprinkles water in
order to extinguish the fire. This robot is controlled using a mobile
phone through DTMF tones decoded by the DTMF decoder. This robot
implements the concepts of environmental fire sensing, proportional
motor control. The motor driver is used for the bidirectional control of
the motors equipped in the robot. Every instruction for motion control
is given to the robot with the help of DTMF technology.
Thus, the robot processes information from its various key hardware
elements such as flame sensor, DTMF decoder via Arduino Uno board
(microcontroller). The programming of the robot is done using the
arduino C which is derived from C and C++ languages. This paper is
presented as follows. Proposed methodology in section II which
constitutes of block diagram and components and their explanation.
Hardware and software details are included in section III. In Section
IV, results and conclusions are included.

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ABSTRACT

Detecting fire and extinguishing is a hazardous job for a fire extinguisher, it

often risks the life of that person. This project aims in giving a technical solution
to the mentioned problem. A robot is a mechanical design that is capable of
carrying out a complex series of actions automatically, especially one
programmable by a computer. A fire extinguisher robot is a DTMF tone
controlled robot that has a small fire extinguisher unit added on to it. This mobile
robot is controlled using a mobile phone through DTMF tones for its movement
and reaching the fire, the flame sensor detects the fire and gives the further signal
to the extinguisher units to trigger the pump and spray the water. The whole
system is programmed using an Arduino UNO board (ATmega328P
microcontroller) which forms the brain of the system.

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 Fig.1 shows the Block Diagram of Fire Fighting robot. The basic theme
of this paper is to sense the environmental fire and extinguish it with the help of
a water pump. The Arduino UNO Microcontroller board based on the
ATmega328P. The ATmega328P is good platform for robotics application. Thus
the real time fire extinguishing can be performed.
The Arduino software runs on different platforms such as mac, windows and
Linux. Simple and clear programming is possible in case of Arduino software.
The Arduino libraries play a major role in making the programming easier by
providing wider range of libraries. There are many built in libraries available in
the Arduino software and it allows to add additional libraries that are available in
the open source for download. Adding of new boards to Arduino software is
possible. Since,
Arduino C is derived from C and C++ programming and is much easier when
compared other controller programming.

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BLOCK DIAGRAM

Figure 1: Block Diagram of Fire Fighting robot

Material Required:
1. Arduino UNO
2. Fire sensor or Flame sensor (3 Nos)
3. Servo Motor (SG90)
4. L293D motor Driver module
5. Mini DC Submersible Pump
6. Small Breadboard
7. Robot chassis with motors (2) and wheels(2) (any type)
8. A small can
9. Connecting wires

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PROBLEM FORMULATION

Fire disaster is one of the dangerous problems that can lead to heavy loss
both financially and by taking lives. Sometime it becomes difficult for fighters to
access the site of a fire because of explosive materials, smoke, and high
temperatures. Such situations risk the lives of fire fighters too. In such
environments, fire-fighting robots can be useful. This Fire Extinguishing Robot
is based on IOT Technology. In Fire Extinguishing Robot, we intend to build a
system that could extinguish a small flame by sensing and moving to the location
itself .Sometime delay in the arrival of fire fighters leads to numerous
consequences. The Fire Extinguishing robot continuously monitors the
environment and extinguishes it without delay

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METHODOLOGY

The Methodology is divided into three parts. The first part is on the
design structure, followed by hardware description and the finally on the
programming design. This robot’s main function is to detect fire and move
towards the fire automatically to extinguish it from a safe distance using a
water sprinkler. This robot’s movement and behaviour will be fully controlled
by the Arduino microcontroller. This advanced robot allows a user to control a
fire fighter robot equipped with water tank and gun remotely wirelessly for
extinguishing fires. For this purpose the system uses Radio frequency (RF)
remote for remote operation along with RF receiver based microcontroller circuit
for operating the robotic vehicle and water pump. The RF based remote transfers
user’s commands through radio frequency signals which are then received by the
receiver circuit. The receiver circuit then decodes the data sent by the user.
The receiver then forwards the data to the microcontroller. Now the
microcontroller processes these instructions and then instructs the vehicle motors
to run the vehicle in desired direction.

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HARDWARE IMPLEMENTATION

The hardware part is one of the crucial parts in the development of

firefighting robot. It includes Arduino UNO, IR flame sensors, servo motors,
submersible water pump, motor driver, mini breadboard, BO motors, and rubber
wheels. Fig 3 shows the block diagram of firefighting robot which consists of
three IR flame sensors as the input of the system. Arduino UNO is used as a
micro-controller that connects other components. L293D Motor driver is used to
drive motors and is capable of running two DC motors (Left DC motor and Right
DC motor) at the same time .

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DESIGN STRUCTURE

In this section, the prototype of robotic system is presented, in which it

consists of IR flame sensors, servo motors, submersible water pump, motor
driver, mini breadboard, BO motors, rubber wheels, processor, and
communication module for exchanging data between the fire-fighting robot and
Arduino software. Fig 2 shows the basic prototype of our firefighting robot. The
robot carries four main functions: First, it initializes itself i.e. its sensors gets
initializes as the power is supplied. Second, robot sense the surrounding
environment (for instance for the level of temperature) and identify the fireplace.
Third, robot sends the navigating information and starts to navigate itself towards
the fireplace. Fourth, finally the robot starts to extinguish the fire with the help of
servo motors and submersible water pump.

Figure 1.1. Fire Fighting Robot

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WORKING CONCEPT OF FIRE FIGHTING ROBOT

The main brain of this project is the Arduino, but in-order to sense fire we use the
Fire sensor module (flame sensor) that is shown below.

Figure 2. Fire Sensor Module

A fire sensor module (usually IR or flame sensor) detects infrared light emitted
by flames. When a flame is present, the sensor outputs a low signal; otherwise, it
stays high. This signal can trigger alarms, relays, or microcontrollers for fire
detection systems.

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HARDWARE USED

1. ATmega328P microcontroller (Arduino UNO):

Fig 3: Arduino Uno microcontroller based development board

A Microcontroller is a compact device with a processor, storage and configurable
input/output devices on a single integrated circuit. We'll be using the Arduino
UNO board, which combines a microcontroller with all of the extras needed to
quickly create and debug projects. The ATmega3288based UNO is a
microcontroller board
14 Digital input/output pins,
6 Analog inputs,
16MHz Quartz crystal
USB connector,
Power jack,
ICSP header, and
Reset button.
Attach it to a computer via USB cable or power it with an AC to DC adapter to
get started. The ATmega3288 has 32kb of memory, 2kb of SRAM, and 1kb of
EPROM. The Arduino Software can be used to programmed the UNO(IDE). The
boot loader on the ATmega3288 on the UNO comes preprogrammed, allowing
you to upload new code. It uses the original STK 500 protocol to communicate.

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ULTRASONIC SENSOR

The Transducer's sonic waves would be absorbed by an object and returned to the
transducer. The time it takes for the ultrasonic sensor to transition from emitting
to receiving sound waves is proportional to the distance between the object and
the sensor as shown in Figure 3.

Figure 4. Ultrasonic Sensor

Hard surfaces are the strongest reflectors of sonic waves, and may be solids,
granules, liquids, or powder. The distance can be calculated precisely and without
touch using an ultrasonic sensor. It could be anywhere from 2cm to 3m long.

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FLAME SENSORS

Fig 5: Flame Sensor

A flame sensor is the most sensitive to normal light of any sensor. This sensor
senses flame if the light source emits a wave length between 760nm and
1100nm.The detection angle would be 60o and can be achieved from a distance
of 100cm. This sensor's output is either an analog or digital signal. The infrared
flame flash method is used by this sensor as shown in Figure 5.
Fig 5 shows the flame sensor. This sensor is able to detect a flame by sensing
light wavelength between 760 –1100 nanometers. The test distance depends on
the flame size and sensitivity settings.
The detection angle is 60 degrees, so the flame does not have to be right in front
of the sensor. There are two sensor outputs
i. Digital – sending either zero for nothing detected or one for a positive
detection ii. Analog – sending values in a range representing the flame
probability/size/distance; must be connected to a PWM capable input It has four
pins,
Voltage Supply (Vcc),
Ground pin (GND),
Analog output (Aout), and
Digital output (Do)

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SERVO MOTORS

Fig 6. shows the Servo Motors.

Servo Motors are electronic devices that are mainly used for providing
specific velocity and acceleration.

SUBMERSIBLE WATER PUMP

Fig 7. Shows the Submersible Water Pump.

Submersible Water Pump is ideal for making automatic watering system using
Arduino. The water pump is an important part of the robot as it will pump water
to extinguish the fire.

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MOTOR DRIVERS

Fig 8: H Bridge circuit

Motor drivers are used to describe the direction of movement of the robot. It
is used to give high voltage and high current as an output to run the motors which
are used in the project for the movement of the robot. Fig 5 is the circuit of the H
Bridge which is used for the motor driving in the IC L293D and also provides the
bidirectional motor control.

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TEMPERATURE SENSOR (LM35)

The temperature sensors in the LM35 series are accuracy integrated circuits
temperature sensors with a linearly proportional output voltage to Celsius scale
value. The Temperature can be measured more precisely than with a thermistor
as shown in Figure 5.

Figure 9. Temperature Sensor (LM35)

The sensor circuitry is fully sealed and is not exposed to the elements. due to
oxidation The LM35 produces a higher output voltage than thermocouples, so it
might not be necessary to amplify the output voltage. It calibrates in Celsius with
a 0.5°C precision guarantee and a measurable range of 55°Cto+150°C.

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RELAY

Figure 10. Relay

A relay is a switch that is powered by electricity as shown in Figure 7. A magnetic

field is generated by coil of the relay is which the current flows through, which
attracts a lever and changes the switch contacts. There are two switch places on
their lay, both of which are double throw switches. There is no electrical
connection between the two circuits within the relay. Only magnetic and
mechanical connections exist. Relays are incredibly basic instruments. Figure 8
shows the Node MCU. They are,

1. Armature,

2. Electromagnet Spring, and

3. Set of Electrical Contacts

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MODE MCU

Figure 11. Mode MCU

Node MCU is an open source IoT platform with a low cost. It

came with firmware for the ESP8266 Wi-Fi SoC from express if
systems at first. The ESP-12 module serves as the basis for its
hardware. Microcontroller Unit (MCU) is an Open-source
prototyping board designs are available for Node MCU, which is
an open-source firmware. LUA is the scripting language used by
the firmware. The most popular prototyping hardware is a circuit
board. Table 1 shows D0 (GPIO16) can only be used for GPIO
read/write.

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DTMF SINGNAL AND DECODER
Dual-tone multi-frequency signaling (DTMF) is an in- band telecommunication
signaling system using the voice- frequency band over telephone lines between
telephone equipment and other communications devices and switching centers.
DTMF was first developed in the Bell System in the United States, and became
known under the trademark Touch-Tone for use in push-button telephones
supplied to telephone customers, starting in 1963 we are using the IC
MT8870DE which is a touch tone decoder IC.

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DTMF LOW AND HIGH FREQUENCY TONES AND
DECODE

Table.1 shows the DTMF low and high frequency tones and decoded output.
The DTMF (Dual Tone Multi Frequency) decoder circuit identifies the dial
tone from the telephone line and decodes the key pressed on the remote
telephone. Here for the detection of DTMF signaling, we are using the IC
MT8870DE which is a touch tone decoder IC. The decoded bits can be
interfaced to a computer or microcontroller for further application.

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DC MOTORS

In this project we use simple DC motor for the rotation of the wheel which are
responsible for the movement of the robot. Usually DC motors convert electrical
energy into mechanical energy.

PUMP

Pump is a mechanical device which is used to pump water on to the fire to

extinguish it. It uses a simple motor to pump water.

PROGRAMMING

For programming, the Arduino software provides an integrated development

environment (Arduino IDE) and core libraries. The Arduino IDE program is a
software program written in Java language and based on the Processing. The
Arduino IDE is basically a framework built on top of C and C++ and compiled
using avr-gcc and AVR Libc. The open source Arduino IDE makes it easy to
write code and upload it to the Arduino Uno for execution. It is available for all
major desktop platforms i.e., Windows, Mac OS X, and Linux. Fig 10 shows
the Arduino IDE program.

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WORKING

The Arduino UNO development board issued to control this firefighting robotic
system, which is made up of HC-SR04 sensors. A gas sensor (MQ2) for
sensing hazardous smoke, a temperature sensor (LM35) for more precise
temperature measurement, and a fire flame sensor (IR) for detecting and
sensing the approaching fire are all mounted on a servo-motor for obstacle
detection and free path navigation. In addition, for extinguishing the flames, it
also makes use of a water tank and a spray gun mechanism. With the aid of a
12V pump, water is pumped from the main water tank to the water nozzle

RESULT DISCUSSION
Fire Fighting Robot has developed to reduce human life lost and to develop such a device that
automatically sense fire and extinguish it without human intervention. In this the fireplace is
detected using the IR Flame sensors and are connected to Arduino UNO, which control the
movement of Motor drive that helps the robot to reach the fireplace and extinguishes it with
the pumping mechanisms. In the industry if any fire accident occurs, there is a need of person
to monitor continuously and rectify it. In this process if any time delay takes place irreparable
loss occurs in industry. The firefighting robot continuously monitors the surrounding and
helps in extinguishing the fire. Fig 11 shows the overall prototype of Fire Fighting Robot

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 Figure 12. Fire Fighting Robot

RESULTS AND CONCLUSIONS

The Fire Fighting Robot employs DTMF technology to control the directions of the robot. We design
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. The
robot can operate in the environment which is out of human reach in very short time, the delay
employed is very minimal. The robot accurately and efficiently finds the fire and within minimum time
after the fire is detected it is extinguished.

Figure 13. Flame Sensor

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 SOFTWARE USED:

Arduino IDE
For programming the microcontrollers, the Arduino project provides an
integrated development environment (IDE) based on a programming language
named Processing, which also supports the languages C and C++.The open
source Arduino IDE makes it easy to write code and upload it to the board.

CODING

#include <Servo.h>

// Define flame sensor pins

#define FLAME_SENSOR_LEFT A0

#define FLAME_SENSOR_CENTER A1

#define FLAME_SENSOR_RIGHT A2

// Define motor driver pins

#define MOTOR_L1 5 // Left Motor Forward

#define MOTOR_L2 6 // Left Motor Backward

#define MOTOR_R1 9 // Right Motor Forward

#define MOTOR_R2 10 // Right Motor Backward

// Define relay for water pump

#define RELAY_PIN 7

// Define servo motor pin

#define SERVO_PIN 3

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// Create Servo object

Servo waterServo;

// Flame sensor threshold

#define FIRE_DETECTED_THRESHOLD 800 // Adjust based on sensor

readings

void setup() {

// Initialize Serial Monitor

Serial.begin(9600);

// Set motor pins as output

pinMode(MOTOR_L1, OUTPUT);

pinMode(MOTOR_L2, OUTPUT);

pinMode(MOTOR_R1, OUTPUT);

pinMode(MOTOR_R2, OUTPUT);

// Set relay as output

pinMode(RELAY_PIN, OUTPUT);

digitalWrite(RELAY_PIN, LOW); // Ensure relay (pump) is OFF at startup

// Initialize servo motor

waterServo.attach(SERVO_PIN);

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 waterServo.write(90); // Set initial servo position to center

// Set flame sensor pins as input

pinMode(FLAME_SENSOR_LEFT, INPUT);

pinMode(FLAME_SENSOR_CENTER, INPUT);

pinMode(FLAME_SENSOR_RIGHT, INPUT);

Serial.println("🚀 Fire Fighting Robot Initialized...");

void loop() {

// Read flame sensor values

int flameLeft = analogRead(FLAME_SENSOR_LEFT);

int flameCenter = analogRead(FLAME_SENSOR_CENTER);

int flameRight = analogRead(FLAME_SENSOR_RIGHT);

// Print sensor values to Serial Monitor

Serial.print("Flame Left: ");

Serial.print(flameLeft);

Serial.print(" | Flame Center: ");

Serial.print(flameCenter);

Serial.print(" | Flame Right: ");

Serial.println(flameRight);

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// Check flame detection

if (flameCenter < FIRE_DETECTED_THRESHOLD) {

Serial.println("🔥 Fire Detected at Center! Moving Forward...");

moveForward();

activateWaterPump();

else if (flameLeft < FIRE_DETECTED_THRESHOLD) {

Serial.println("🔥 Fire Detected at Left! Turning Left...");

turnLeft();

activateWaterPump();

else if (flameRight < FIRE_DETECTED_THRESHOLD) {

Serial.println("🔥 Fire Detected at Right! Turning Right...");

turnRight();

activateWaterPump();

else {

Serial.println("✅ No Fire Detected. Stopping...");

stopMotors();

deactivateWaterPump(); // Ensure pump is OFF when no fire is detected

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 delay(500); // Delay for stability

// Function to move forward

void moveForward() {

digitalWrite(MOTOR_L1, HIGH);

digitalWrite(MOTOR_L2, LOW);

digitalWrite(MOTOR_R1, HIGH);

digitalWrite(MOTOR_R2, LOW);

// Function to turn left

void turnLeft() {

digitalWrite(MOTOR_L1, LOW);

digitalWrite(MOTOR_L2, HIGH);

digitalWrite(MOTOR_R1, HIGH);

digitalWrite(MOTOR_R2, LOW);

delay(500); // Adjust timing

stopMotors();

// Function to turn right

void turnRight() {

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 digitalWrite(MOTOR_L1, HIGH);

digitalWrite(MOTOR_L2, LOW);

digitalWrite(MOTOR_R1, LOW);

digitalWrite(MOTOR_R2, HIGH);

delay(500); // Adjust timing

stopMotors();

// Function to stop motors

void stopMotors() {

digitalWrite(MOTOR_L1, LOW);

digitalWrite(MOTOR_L2, LOW);

digitalWrite(MOTOR_R1, LOW);

digitalWrite(MOTOR_R2, LOW);

// Function to activate water pump and move servo

void activateWaterPump() {

Serial.println("🚰 Activating Water Pump...");

digitalWrite(RELAY_PIN, HIGH); // Turn ON the water pump

// Move the servo from left to right

for (int pos = 60; pos <= 120; pos += 5) {

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 waterServo.write(pos);

delay(100);

// Move the servo from right to left

for (int pos = 120; pos >= 60; pos -= 5) {

waterServo.write(pos);

delay(100);

delay(2000); // Pump stays on for 2 seconds

deactivateWaterPump(); // Turn off the water pump

// Function to deactivate water pump

void deactivateWaterPump() {

Serial.println("✅ Deactivating Water Pump...");

digitalWrite(RELAY_PIN, LOW); // Turn OFF the water pump

waterServo.write(90); // Reset servo to center position

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REFERENCES
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[2] S. Boopalan, G. Narendra Prasad, C. SwarajPaul, Kumar Narayanan, and R.

Anandan, G. Narendra Prasad International Journal of Engineering and
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[4] R. Arulmurugan and H. Anandakumar, Early Detection of Lung Cancer

Using Wavelet Feature Descriptor and Feed Forward Back Propagation
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[6] Mukul Diwanji, Saurabh Hisvankar, and Chhaya Khandelwal, Autonomous

Fire Detecting and Extinguishing Robot , Manipal University Jaipur,
September 28-29, 2019
[7] Control of an Autonomous Industrial Fire Fighting Mobile Robot by HP
SINGH, Department of Mathematics, Sri Venkateswara College,
University of Delhi
[8] An Autonomous Firefighting Robot Real Time Man-Robot Control of a
Group of Specialized Mobile Robots Vassil Sgurev, Stanislav Drangajov,
Lyubka Doukovska Institute of Information and Communication
Technologies, 1113 Sofia.

[9] A System Architecture of Wireless Communication for Fire- Fighting Robot

by Korea Advanced Institute of Science and Technology (KAIST), 335
Gwahangno, Yuseong-gu, Daejeon 305- 701, Republic of Korea

[10] Develop a Multiple Interface Based Fire Fighting Robot by 1Department of

Electronic Engineering WuFeng Institute of Technology Ming-Hsiung

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[11] FIRE FIGHTING ROBOT Sahil S.Shah1 , Vaibhav K.Shah2 , Prithvish
Mamtora3 and Mohit Hapani4 1,2,3,4D.J.Sanghvi College of Engineering,
Vile Parle – West, Mumbai, India

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