SmokeBot is driven by the application needs for robots that operate in domains with restricted visibility. The focus is on civil robots supporting fire brigades in search and rescue missions, e.g., in post-disaster management operations in response to tunnel fires. Existing sensor technology and related cognitive approaches cannot cope with such demanding conditions. SmokeBot is being realized together with partners from Sweden, Austria and the United Kingdom, and the Fraunhofer Institute for High Frequency Physics and Radar Techniques. The aim of SmokeBot is to improve the environment perception of mobile robots in scenarios with low visibility.