2. Red Bull (Dog) Autonomous Fire Fighting Agent

3. The City The Burning Building Battlefield New Haven a.ka. Where Yale Univ. is

4. Functions Follow lines ( Streets) toward a possible fire Park in front of the building Use CMU Cam to find flame on black background of building. Aim water cannon and extinguish

5. Behaviors Line Following Intersection Detection Obstacle Avoidance Tracking the fire Arbitration Targeting a fire on multilevel building Extinguishing fire

6. Inside the Beast Battery Holder Dual H-BridgeMavrik IIb LCD Display Switchs (Board,Sensor, Servos) Power Board “The beast (I) likey Beyonce”

7. Sensor Arrays Line-Following Sensor Array Forward Pair-Line Following Backward pair- Intersection Detection Forward Pointing Sensor Array Pyroelectric Sensor Forward IR Sensor

9. Water Cannon IR Characterization Lower minimum tilt angle Higher minimum tilt angle

10. Future Work Better vision algorithm BlueTooth Module communication Second Agent Trinity Fire Fighting Competition

11. Fire location=(Low Servo + High Servo) / 2

12. Previews