Versatile UAS Platform for Indoor Law Enforcement and First Responders Applications

The Penn State Autonomous Robotics Competition Club has developed a low-cost UAS platform to support law enforcement and first responders conducting indoor operations. The solution consists of single/multi-vehicle configurations, allowing for the distribution of tasks and addressing different aspects using different vehicles; for example, one UAS can perform reconnaissance while another UAS can simultaneously perform 3D mapping. The design of the mapping UAS vehicle is focused on providing a cost-effective solution with autonomous vision-based navigation, navigation in low light conditions, including thermal and night vision capabilities and two-way audio communications. The proposed solution is capable of operations including 2D and 3D mapping, indoor Search and Rescue (SAR) operations, and reconnaissance. The reconnaissance vehicle is designed to have low deployment time and provide a live video stream. A quadcopter configuration provides a viable balance between endurance and adequate thrust for both UAS to safely maneuver through the indoor environment. The proposed solution offers a versatile configuration capable of numerous applications, providing necessary situational awareness and flexibility to first responders.