Drones for cooperative search and rescue in post-disaster situation

In this work, we report our solutions to the problems given in the 2014 International Micro Aerial Vehicle Competition, held in Delft, the Netherlands, August 2014, which involves using micro air vehicles in urban post-disaster search and rescue missions. Solutions to all key mission elements of the competition, including real-time map stitching, indoor navigation and roof-top perching, are documented and highlighted in this manuscript. The proposed solutions are successfully demonstrated in the competition and help us win the championship.