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

翻译：针对灾后场景中高效侦察的迫切需求，本文介绍了一种采用Turtlebot3机器人平台及机器人操作系统（ROS）Noetic版本的全自主机器人系统的设计与实现。该系统部署于封闭且初始未知的环境中，旨在生成完整的场景地图，并利用AprilTags替代标识来识别现场存在的"受害者"。本文讨论了针对搜索与救援任务的解决方案，同时进一步探索了更先进的算法以提升搜索与救援功能。我们引入了一种Cubature卡尔曼滤波器，用于降低AprilTag定位的均方误差（以米为单位）；同时提出一种基于信息理论的探索算法，以加速未知环境中的探索进程。正如乌龟般，我们的系统行动稳健而从容，但面对危机时却能以忍者般的敏捷速度出击！尽管背负着多纳泰罗的龟壳，它却绝非行动迟缓——它能够像忍者神龟般灵活地在障碍物间穿梭。请抓紧你的龟壳，准备迎接一场酣畅淋漓的侦察之旅！完整管线代码：https://github.com/rzhao5659/MRProject/tree/main 探索代码：https://github.com/rzhao5659/MRProject/tree/main