*Article* **A Survey on Robotic Technologies for Forest Firefighting: Applying Drone Swarms to Improve Firefighters' Efficiency and Safety**

**Juan Jesús Roldán-Gómez 1,\*, Eduardo González-Gironda <sup>2</sup> and Antonio Barrientos <sup>2</sup>**


**Abstract:** Forest firefighting missions encompass multiple tasks related to prevention, surveillance, and extinguishing. This work presents a complete survey of firefighters on the current problems in their work and the potential technological solutions. Additionally, it reviews the efforts performed by the academy and industry to apply different types of robots in the context of firefighting missions. Finally, all this information is used to propose a concept of operation for the comprehensive application of drone swarms in firefighting. The proposed system is a fleet of quadcopters that individually are only able to visit waypoints and use payloads, but collectively can perform tasks of surveillance, mapping, monitoring, etc. Three operator roles are defined, each one with different access to information and functions in the mission: mission commander, team leaders, and team members. These operators take advantage of virtual and augmented reality interfaces to intuitively get the information of the scenario and, in the case of the mission commander, control the drone swarm.

**Keywords:** robotics; multi-robot systems; swarms; drones; firefighting
