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This work establishes an architecture for Urban Search and Rescue and a methodology for mixing real-world and simulation-based testing. A sensor suite and sensor fusion algorithm for robust victim detection permits aggregation of sensor readings from various sensors on multiple robots. We have embarked on a research program focusing on the enabling technologies of effective USAR robotic rescue devices. The program is also researching system-level design, evaluation, and refinement of USAR rescue architectures that include teams of sensor-laden robots and human rescuers. In this paper, we present highlights from our research, which include our multiagent system (MAS) infrastructure, our simulation environment, and our approach to sensor fusion and interface design for effective robotic control.