In response to the critical need for effective reconnaissance in disaster scenarios, this research article presents the design and implementation of a complete autonomous robot system using the Turtlebot3 with Robotic Operating System (ROS) Noetic. Upon deployment in closed, initially unknown environments, the system aims to generate a comprehensive map and identify any present 'victims' using AprilTags as stand-ins. We discuss our solution for search and rescue missions, while additionally exploring more advanced algorithms to improve search and rescue functionalities. We introduce a Cubature Kalman Filter to help reduce the mean squared error [m] for AprilTag localization and an information-theoretic exploration algorithm to expedite exploration in unknown environments. Just like turtles, our system takes it slow and steady, but when it's time to save the day, it moves at ninja-like speed! Despite Donatello's shell, he's no slowpoke - he zips through obstacles with the agility of a teenage mutant ninja turtle. So, hang on tight to your shells and get ready for a whirlwind of reconnaissance! Full pipeline code https://github.com/rzhao5659/MRProject/tree/main Exploration code https://github.com/rzhao5659/MRProject/tree/main

设计并实施了一种完整的自主机器人系统，使用Turtlebot3和Robotic Operating System (ROS) Noetic，在封闭和未知环境中部署，旨在生成综合地图并利用AprilTags识别存在的“受害者”。我们讨论了搜索和营救任务的解决方案，同时探索了更先进的算法来改进搜索和营救功能。我们引入了Cubature Kalman Filter来减少AprilTag定位的均方误差，并引入了一种信息论探索算法以加速在未知环境中的探索。就像乌龟一样，我们的系统运动缓慢而稳定，但在需要拯救的时候，它会以忍者一样的速度行动！尽管多纳泰罗有壳，但他并不慢 - 他能够像青少年变种忍者乌龟一样灵活地穿越障碍物。让我们紧紧抓住壳，准备好开始一场侦察的旋风！

灾害地图及受害者定位的自主机器人