Safe Search and Rescue Operations Based on Autonomous Robots: A Systematic Review of the General System Architecture

Over the past few years, remarkable progress has been made in Autonomous Robotic Systems (ARSs) due to their multidisciplinary nature and applications. Among the most in-demand applications is the Search and Rescue (SAR) task, particularly in high-risk environments where human entry is unsafe. Specifically, teleoperated SAR platforms deploy dedicated sensors and control algorithms to optimize search effectiveness and mitigate risks incurred by human responders. This systematic review analyzes 74 research papers published between 2016 and 2024, with a focus on the role of robots in SAR operations (sensor integration), the types of robots employed, and the control algorithms used. The work classifies robotic systems in the context of SAR as either aerial, ground, or marine platforms and analyzes their sensor technologies, autonomous navigation functions, and human-robot interaction capabilities. A major contribution of this survey is the proposal and design of a five-layered architecture for robotic SAR systems, which categorizes system functions into clearly differentiated layers; namely, the HRI Layer, Perception Layer, Navigation Layer, Control Layer, and Robot Layer. Such a structured method enables modular, scalable, and real-time decision-making under dynamic disaster conditions. Moreover, this paper identifies several research challenges, including multi-robot coordination, AI-based real-time decision-making, and energy efficiency, providing a related analysis for the future development of robotic SAR systems.