NEAR FIRE
Network of Autonomous Robots for Firefighting

 

Objective

The objective of the NEAR FIRE project is to perform cooperative localization and tracking using heterogenous distributed sensor networks in hazardous environments. A direct application of this research will be to allow autonomous robots to conduct search and rescue operations in dangerous operations such as firefighting.

People

University of Pennsylvania
	Aveek Das Vijay Kumar Guilhemre Pereira Ameesh Makadia John Spletzer
Carnegie Mellon University
	Peter Abeles Geroge Kantor Sanjiv Singh
Dartmouth University
	Ron Daniela Rus

 

Experiment Location
"Burn Building" compound at the Alleghany County Fire Academy located in Allison Park, Pennsylvania.

 

Equipment

University of Pennsylvania
	4 Clodbusters with integrated 802.11b wireless networked laptops. Sensors include omnidirectional cameras and infrared sensors.
Carnegie Mellon University
	Team of robots with a 360 degree ROV VRML camera and radio tag sensors
Dartmouth University
	Robots with onboard communications. Sensors include mote, heat and acoustic sensors.

 

Multimedia

Photos	Movies
Robots: Robot Exiting Entering Dark Room Driving into Room Entering Hallway In Narrow Passage Exiting Narrow Passage Driving in Smoke Driving in Tunnel Driving Outside   Building: Full Building View Side Building View People Standing Inside Smoke Inside	Fire and smoke in burn building: normal view(10.8 MB) Fire and smoke in burn building: FIR view(11.4 MB) Underground unlit maze: FIR view Underground maze: Infra Red lit (nightvision) view Clod XT climbing inside a corrugated tube

 

Results