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Mobile Robots with Novel Environmental Sensors for Inspection of Disaster Sites with Low Visibility

Total Cost €


EC-Contrib. €






Project "SmokeBot" data sheet

The following table provides information about the project.


Organization address
city: OREBRO
postcode: 70182

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Sweden [SE]
 Project website
 Total cost 3˙817˙417 €
 EC max contribution 3˙817˙417 € (100%)
 Programme 1. H2020-EU. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-01-01   to  2018-06-30


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    OREBRO UNIVERSITY SE (OREBRO) coordinator 1˙260˙660.00
4    THE UNIVERSITY OF WARWICK UK (COVENTRY) participant 546˙127.00
5    TAUROB GMBH AT (Wien) participant 512˙500.00
6    STADT DORTMUND DE (DORTMUND) participant 41˙250.00


 Project objective

SmokeBot is driven by the application needs for robots that operate in domains with restricted visibility. The focus is on civil robots supporting fire brigades in search and rescue missions, e.g. in post-disaster management operations in response to tunnel fires. Existing sensor technology and the related cognitive approaches cannot cope with such demanding conditions. SmokeBot addresses this shortcoming and can thus bring about a step change for robotics. It will deliver software and hardware components which facilitate robot systems to perform under harsh conditions of smoke, dust or fog. This will be demonstrated through integration of the project results in an industrial prototype of a Low Visibility Explorer Robot for providing situational awareness based on a commercial platform from partner TAUR. In close collaboration with TAUR (robotics industry) and end users (FDDO, end users in the advisory group), SmokeBot will crucially improve the abilities of the selected platform, thus increasing safety of rescue staff and European citizens as well as improving the product of a European robotics company in an important market. An even wider impact is expected through the development of a novel sensor unit and the corresponding cognitive approaches. In addition to traditional sensors such as LIDAR and cameras, which are affected by smoke or dust, this sensing unit includes also a novel 3D radar camera, a thermal camera, and high-bandwidth gas sensors. Fusion of sensor modalities will allow the inclusion of measurements from LIDAR and camera into the world model when they occasionally penetrate through e.g. smoke. In addition, we will develop the means to integrate prior knowledge in the form of crude human sketch maps to allow for robust mapping and navigation even under low visibility in a harsh environment. Sensor technology from SmokeBot will result in new products to be brought to market after the project. Software developed will be made available as open source.


List of deliverables.
Gas Source Localization Documents, reports 2019-09-09 12:28:55
Signal processing algorithms for high-bandwidth chemical sensors Documents, reports 2019-09-09 12:28:55
Technical Description for Correction of Radiation Disturbances Documents, reports 2019-09-09 12:28:55
Software Toolkit - Indoor Surface Temperature Mapping Other 2019-09-09 12:28:55
Software Toolkit - Algorithms for sensor planning Other 2019-09-09 12:28:55
Technical specifications for multi-layered information storage model Documents, reports 2019-09-09 12:28:55
Evaluation of the low visibility explorer robot prototype in realistic scenarios Documents, reports 2019-09-09 12:28:55
Software Toolkit - Hazard prediction based on multi-modal perception Other 2019-09-09 12:28:55
Software Toolkit - SLAM Toolkit for the navigation sensors Other 2019-09-09 12:28:55
Technical specifications for return procedures after communication loss Documents, reports 2019-09-09 12:28:55
Software Toolkit - Navigation Sensor Fusion Algorithm Other 2019-09-09 12:28:55
Software toolkit for visualization of GDIM information and operator guidance Other 2019-09-09 12:28:55
Characterisation of response of high-bandwidth chemical sensor to pulses and plumes of gas in a wind tunnel Documents, reports 2019-09-09 12:28:55
Sketch Maps Documents, reports 2019-09-09 12:28:55
Hazard Maps Documents, reports 2019-09-09 12:28:55
Technical specifications for bandwidth supervision and data transfer adaption Documents, reports 2019-09-09 12:28:55
Software Toolkit - Thermal Stereo Vision Other 2019-09-09 12:28:55
Second iteration of the requirement analysis and use case definition Documents, reports 2019-09-09 12:28:55
Gas Distribution and Airflow Mapping Documents, reports 2019-09-09 12:28:55
Characterisation of response of HBW sensor to target gases and with interferences Documents, reports 2019-09-09 12:28:55
Fabricated sensor and interface circuitry for integration of high-bandwidth chemical sensor on robot platform Documents, reports 2019-09-09 12:28:55
Gas Detection and Identification Documents, reports 2019-09-09 12:28:55
Software Toolkit - Navigation algorithms for hazardous environments Other 2019-09-09 12:28:55
Initial requirement analysis and use case definition Documents, reports 2019-09-09 12:28:55
Mechanical pivoting Radar Documents, reports 2019-09-09 12:28:55

Take a look to the deliverables list in detail:  detailed list of SmokeBot deliverables.


year authors and title journal last update
List of publications.
2018 Simon Kueppers, Siying Wang, Harun Cetinkaya, Reinhold Herschel, and Nils Pohl.
Imaging Characteristics of a Highly Integrated Millimeter Wave MIMO Radar
published pages: , ISSN: , DOI:
19th International Radar Symposium IRS 2018 2019-09-09
2018 T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner.
Thermal modulation of a high-bandwidth gas sensor array in real-time for application on a mobile robot
published pages: , ISSN: , DOI:
Eurosensors 2018 conference 2019-09-09
2016 Björn Zeise and Bernardo Wagner
Temperature Correction and Reflection Removal in Thermal Images using 3D Temperature Mapping
published pages: , ISSN: , DOI:
13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016 2019-09-09
2018 T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner.
Investigation of response of high-bandwidth MOX sensors to gas plumes for application on a mobile robot in hazardous environments
published pages: , ISSN: , DOI:
2017 Timothy A. Vincent, Yuxin Xing, Marina Cole, Julian W. Gardner
High Bandwidth Sensor Module for Mobile Robot Applications-Wind Tunnel Characterization
published pages: 421, ISSN: 2504-3900, DOI: 10.3390/proceedings1040421
Proceedings 1/4 2019-09-09
2018 Paul Fritsche, Simon Kueppers, Gunnar Briese, Bernardo Wagner
Fusing LiDAR and Radar Data to Perform SLAM in Harsh Environments, In: Madani K., Peaucelle D., Gusikhin O. (eds) Informatics in Control, Automation and Robotics.
published pages: 175-189, ISSN: , DOI: 10.1007/978-3-319-55011-4_9
Electrical Engineering 430 2019-09-09
2017 S. Kueppers, H. Cetinkaya, and N. Pohl
A Compact 120 GHz SiGe:C Based 2x8 FMCW MIMO Radar Sensor for Robot Navigation in Low Visibility Environments for MIMO Radar Applications using the Bootstrapped Gilbert-Cell Doubler Topology
published pages: , ISSN: , DOI: 10.23919/EURAD.2017.8249162
4th European Radar Conference (EuRAD), 2017 2019-09-09
2018 Han Fan, Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal
A cluster analysis approach based on exploiting density peaks for gas discrimination with electronic noses in open environments
published pages: 183-203, ISSN: 0925-4005, DOI: 10.1016/j.snb.2017.10.063
Sensors and Actuators B: Chemical 259 2019-09-09
2017 Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal
Enabling Flow Awareness for Mobile Robots in Partially Observable Environments
published pages: 1093-1100, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2660060
IEEE Robotics and Automation Letters 2/2 2019-09-09
2017 Victor Hernandez Bennetts, Tomasz Piotr Kucner, Erik Schaffernicht, Patrick P. Neumann, Han Fan, Achim J. Lilienthal
Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots
published pages: 1117-1123, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2661803
IEEE Robotics and Automation Letters 2/2 2019-09-09
2016 Paul Fritsche, Bjorn Zeise, Patrick Hemme and Bernardo Wagner
New Perception Approaches for Mobile Robots in Low VisibilityEnvironments
published pages: , ISSN: , DOI:
Proceedings of DGR Days, 2016 2019-09-09

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