| Bensu Melis Orhan, İrem Kayaarslan A Search and Rescue Robot for Under Rubble Victim Detection Using Thermal and Sensor Based Systems |
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| Abstract. In the critical hours following a natural disaster, achieving a rapid situational assessment is required for the search and rescue operations carried out after natural disasters, especially in collapsed structures. The proposed robotic system provides simultaneous location determination and mapping (SLAM), it uses the robot operating system (ROS2) as a monitoring system for detect-ing victim signatures. Additionally, it facilitates durability with its robotic platform and track-type system. Within our integrated design, we combined 2D LiDAR and an MLX90640 thermal sensor using a fusion strategy. This allows the robot to perform spa-tial mapping while simultaneously detecting survivors by analyzing tempera-ture differentials in its surroundings. Furthermore, a USB camera was integrated to provide the operator with a re-al time visual perspective. Data from all integrated sensors, alongside me-chanical motion control, are centralized within the RViz2 framework, offer-ing a unified operational dashboard for comprehensive visualization. Communication is maintained via a high bandwidth TCP/IP network over a Wi-Fi module, ensuring seamless telemetry and real time sensor data stream-ing. For humanitarian support, the robot incorporates a walkie-talkie voice link alongside a servo mechanism designed to deliver essential life support supplies to trapped individuals. Experimental evaluations demonstrate that the system’s performance in spatial reconstruction and thermal signature de-tection remains resilient against environmental noise. The integration of ROS2 and RVIZ2 ensures a scalable, modular, and professional framework for modern disaster response initiatives. |
| Keywords: Search and Rescue Robotics, ROS2, Sensor Fusion, SLAM, Thermal Imag-ing, Disaster Response |
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| DOI: https://doi.org/10.54381/itta2026.4.05 |