Surefire UAV: A CPS Testbed

Urban firefighting faces significant challenges in acquiring temperature data within complex building structures during rapid urbanization. The Surefire UAV testbed was developed to address this challenge. The testbed leverages an unmanned aerial vehicle (UAV) equipped with a spherical sensor, capable of being deployed at designated target points to collect temperature data. This testbed is a typical Cyber-Physical System (CPS) testbed, integrating both the cyber components (flight control software and sensor deployment software) and physical components (UAV hardware, sensors, motors, etc.).