Controlled-mobile sensing simulator for indoor fire monitoring

Indoor emergency response situations, such as urban fire, are characterized by dangerous constantly-changing operating environments with little access to situational information for first responders. In situ information about the conditions, such as the extent and evolution of an indoor fire, can augment rescue efforts and reduce risk to emergency personnel. Cyber-physical controlled-mobile sensor networks have been proposed for emergency response situations. However, cost-effective development, analysis and evaluation of such cyber-physical systems require simulation frameworks that simultaneously model its many computational and physical components. Existing multi-sensor/robot simulation environments are inadequate for this purpose. This paper presents a simulator that incorporates a realistic indoor fire growth model (CFAST), with a radio path loss model, wireless network model, and mobility model of a controlled-mobile sensor network, to achieve a more comprehensive representation of such cyber-physical systems. A detailed example simulation scenario is presented along with analysis to illustrate the capabilities of the framework.