Path Planning Algorithm for Extinguishing Forest Fires
  One of the major impacts of climatic changes is due to destroying of forest. Destroying of forest takes place in many ways but the majority of the forest is destroyed due to wild forest fires. In this paper we have presented a path planning algorithm for extinguishing fires which uses Wireless Sensor and Actor Networks (WSANs) for detecting fires. Since most of the works on forest fires are based on Wireless Sensor Networks (WSNs) and a collection of work has been done on coverage, message transmission, deployment of nodes, battery power depletion of sensor nodes in WSNs we focused our work in path planning approach of the Actor to move to the target area where the fire has occurred and extinguish it. An incremental approach is presented in order to determine the successive moves of the Actor to extinguish fire in an environment with and without obstacles. This is done by comparing the moves determined with target location readings obtained using sensors until the Actor reaches the target area to extinguish fires. 
M. P. Sivaram Kumar, S. Rajasekaran
cs.RO