SindoorBot: A Tactical Multi-Sensor UGV for Combat Zone Surveillance and Hazard Mitigation

Abstract

This work presents the design and deployment of SindoorBot, an unmanned ground vehicle (UGV) tailored for combat support, real-time hazard detection, and tactical surveillance. The platform integrates an ESP32-based microcontroller network utilizing the ESP-NOW protocol to facilitate low-latency wireless communication, independent of internet infrastructure. The system features a four-wheel-drive chassis, equipped with fire and gas detection sensors, temperature monitoring, live video feed via ESP32-CAM, and a laser diode for simulated engagement. A custom-developed Android application, interfaced through Firebase Realtime Database, enables remote monitoring and control, providing situational awareness and reactive capabilities in real-time. The modular and field-adaptable architecture of SindoorBot renders it suitable for operations in harsh, communication-constrained, and high-risk environments.

Introduction

SindoorBot is a four-wheel-drive unmanned ground vehicle designed for military, border, and hazardous field operations. It integrates real-time surveillance, hazard detection, and remote simulated weapon engagement—all in a low-cost, Wi-Fi-independent platform. It uses ESP-NOW for wireless control and Firebase for mobile alerts.

II. Problem Statement

Key challenges addressed:

1. High cost of existing tactical robots

2. Dependence on Wi-Fi or cellular networks

3. No integrated hazard detection or engagement systems

4. Delayed threat alerts

5. Lack of combat simulation in affordable systems

6. Limited power availability

7. Complex user interfaces

III. Proposed Solution

SindoorBot offers a modular UGV with the following features:

• ESP-NOW-based joystick control (no internet required)

• Fire, gas, and smoke detection (flame sensor, MQ-series, DHT11)

• ESP32-CAM for real-time video

• Firebase-integrated Android app for alerts and laser activation

• Rechargeable battery power with external supply support

IV. Key Contributions

• Offline wireless control via ESP-NOW

• Live environmental alerts (physical + app-based)

• Live video streaming from onboard ESP32-CAM

• Simulated laser weapon system for tactical training

• Modular and user-friendly design

V. Related Work & Novelty

While existing hazard detection and robotic systems focus on static, infrastructure-dependent setups, SindoorBot stands out by:

• Being fully mobile and wireless

• Integrating multi-modal hazard detection with live feedback

• Requiring no Wi-Fi/router/cellular

• Offering low-cost combat simulation via a laser diode

VI. System Architecture

Consists of four main subsystems:

1. Mobility: 4WD chassis + DC motors + L298D driver

2. Sensing: Flame, gas (MQ), and temp/humidity (DHT11) sensors

3. Surveillance & Engagement: ESP32-CAM and laser diode

4. Communication: ESP32 microcontrollers + ESP-NOW + Firebase

VII. Methodology

• Motion Control: Joystick inputs via ESP32 transmitter to ESP32 receiver (ESP-NOW), controlling motors

• Hazard Detection: Flame, gas, and temperature sensors with local buzzer/LED alerts and Firebase notifications

• Live Video: ESP32-CAM streams via browser or app (15–25 FPS)

• Simulated Engagement: App-controlled laser diode mimics directed-energy weapon

• Mobile App: Built with MIT App Inventor; supports alerts, live video, and weapon control

• Power Management: Li-ion/LiPo battery packs, voltage regulators, optional external input

• Communication: ESP-NOW (300m range, encrypted) + Firebase (for alerts/data sync)

VIII. Hardware Components

IX. Software Stack

X. Advantages

• ???? Low cost and open-source components

• ???? Offline operability (no Wi-Fi needed)

• ? Instant alerts via Firebase

• ????? Live tactical surveillance

• ???? Modular and scalable

• ???? Non-lethal combat simulation

• ???? User-friendly joystick + mobile control

XI. Limitations

• ???? Limited ESP-NOW range indoors

• ???? Basic sensors may lack high accuracy

• ???? Power-dependent; limited operational time

• ???? Single camera feed; no night vision or multi-angle support

XII. Application Domains

• ???? Military reconnaissance and surveillance

• ???? Border monitoring and threat detection

• ???? Fire/smoke detection in bunkers or tunnels

• ???? Search and rescue in hazardous zones

• ???? Industrial hazard detection

• ???? Academic IoT/robotics research

• ?? Defense training and simulation

XIII. Future Scope

• GPS, LiDAR, and thermal camera integration

• AI for autonomous navigation and threat detection

• Multi-UGV swarm coordination

• Solar charging and improved power efficiency

• Rugged/weatherproof chassis for outdoor deployment

Conclusion

SindoorBot exemplifies a low-cost, modular tactical robot offering real-time surveillance, environmental monitoring, and simulated combat engagement. Its offline-capable architecture using ESP-NOW and app-based control makes it a suitable solution for defense, security, and research applications. Future iterations can incorporate GPS, AI path planning, and extended battery systems for enhanced autonomy.

Copyright

Copyright © 2025 Aishwarya V, Mohan Gowda M, Pavana R. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.