Victim Detection -- Simulated victims using AprilTags, detected with a monocular camera and OpenCV. Subsequently enhanced the system by integrating object detection functionality to identify real people.

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Navigation -- Implemented SLAM using Gmapping, and autonomous navigation using move_base ROS package.

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Exploration -- Integrated explore_lite ROS package with the navigation stack to autonomously explore the environment.

The baseline approach initially struggled to detect all victims. To address this, we implemented three goal-focused exploration strategies, one of which achieved a significant 90% improvement in victim detection.