Firefighting and urban search operations occur in hazardous, rapidly changing environments where timely situational awareness is critical. In indoor firefighting scenarios, responders often operate in smoke-filled and structurally complex environments with limited visibility and communication. While UAVs have been widely used in wildfire response, their deployment inside buildings remains limited due to constraints in system mass, cost, and operational complexity. This paper presents the design and preliminary validation of an attritable micro-UAV as a proof-of-concept platform for indoor search support and post-fire inspection and assessment. The platform emphasizes portability, durability, and multi-sensor integration, enabling deployment by minimally trained personnel. System requirements were derived in collaboration with the Southfield Fire Department. The finalized design achieved a total mass of 247. 34 g at a cost of 2969. Experimental evaluation demonstrated reliable sensing and communication performance at the subsystem level and confirmed structural robustness through drop tests from heights up to 3 m. Endurance testing yielded a maximum flight time of 28 min, slightly below the targeted 30 min requirement. While full task-level validation in operational firefighting scenarios has not been conducted, the proposed platform establishes a foundation for future development, including system-level validation, post-fire structural assessment, and enhanced visualization interfaces for improved situational awareness in emergency response operations.
Salehzadeh et al. (Wed,) studied this question.