Table 1 Major international search and rescue (SAR) robotics projects.
Project | Main idea | Strengths | Limitations | References |
|---|---|---|---|---|
COMETS | Multi-UAV coordination for cooperative fire detection | Early demonstration of heterogeneous UAVs; real-time control | Centralized, limited scalability, and optimization | |
PeLoTe | Human–robot cooperation in SAR | Integration of human operators with robots | Minimal autonomy, limited scalability | |
NIFTi | Human–robot interaction in dynamic SAR | Mapping, autonomy in UGV + UAV teams | Focused on HRI, less on UAV swarm optimization | |
ICARUS | Maritime & aerial SAR platforms (UAVs, UGVs, USVs, UUVs) | Multi-domain platforms, strong hardware | Limited algorithmic evaluation, centralized coordination | |
TRADR | Long-term human–robot teaming for disaster response | Persistent missions, multi-robot planning | Weak UAV swarm optimization, UGV focus | |
SmokeBot | Sensor fusion in low-visibility sites | Novel radar/LiDAR sensing | Focused on UGVs, limited UAV swarms | |
CENTAURO | Full-body telepresence for disaster response | Robust mobility, dexterous manipulation | Tele-operated, not swarm-based | |
SHERPA | Heterogeneous UAV + UGV teams for alpine SAR | Cooperation in complex terrains | Limited scalability, complex integration | |
euRathlon | Pan-European robotics competitions | Benchmarking in realistic disaster scenarios | Focus on competitions, not algorithmic studies | |
NIFTy-DR | UAV-based disaster information gathering | Enhanced autonomy and mapping | Extension of NIFTi, still HRI-centric | |
DARIUS | Deployable SAR for CBRN incidents | Integration of robotics with disaster management | More on system deployment than UAV autonomy | |
INACHUS | SAR in collapsed buildings | Advanced sensing, situational awareness | More UGV-based, limited UAV swarm | |
CURSOR | UAV swarms with sensors for rubble search | Real UAV swarms, advanced sensors | Limited optimization strategy comparison | |
RoboCup Rescue/RobOrder | SAR competitions & benchmarks | Global community, standard testing | Simulation-driven, not UAV swarm-focused | |
DRZ (German Rescue Robotics Center) | National testbed for SAR robotics | Integration of UAVs and ground robots in testing | Still experimental, more system validation than algorithms | |
This Work | Bio-inspired UAV swarm for thermal SAR | Evaluation of bio-inspired algorithms with real-time thermal integration | Current validation in simulation only | – |
