# A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions
## 5 USV Applications for Preventive Maintenance and Disaster Response
### Search and Rescue
#### 5.3.1 USVs for SAR
The EMergency Integrated Lifesaving lanYards (EMILY) ([[http://emilyrobot.com/](http://emilyrobot.com/)]([http://emilyrobot.com/](http://emilyrobot.com/))) [66] was the first robust teleoperated USV designed for water rescue applications. EMILY was used for rescuing migrants in the Syrian crisis and is currently in use by the Los Angeles County Fire Department (LACoFD) Baywatch. The USV was modified to include a Pixhawk controller which implements waypoint navigation, return to launch, as well as an improved user interface design. After feedback from different trials, the SmartEmily autonomous USV [197] was conceived. Its current interface incorporates the input information provided by the Castrium Rescue Brigade and LACoFD Baywatch and was tested at the DHS CAUSE V Exercise in Bellingham, Washington. [PERSON] et al. [198] propose a potential fields-based algorithm to gradually slow down EMILY, as it approaches the location of drowning victims, to keep them safe and facilitate first-responder tasks. A major endeavor involving institutions from ten European countries and funded by the European Community's Seventh Framework Program (FP7/2007-2013), called Integrated Components for Assisted Rescue and Unmanned Search (ICARUS) (The ICARUS project budget was in the order of 17.5 million Euros [19]), is focused on large-scale maritime assistive robotic tools for SAR operations [199; 200; 19]. The ICARUS initiative designed and tested several USVs for SAR: among them, two small Unmanned life-raftrobotized CAPsules (UCAPs) [202; 203; 204]. The first UCAP [202] uses conventional propellers and can be deployed from larger vessels, including an automatic deployment and inflation system designed for a life-raft for four people, in compliance with the International Convention for Safety of Life At Sea (SOLAS Convention--[[http://www.imo.org/en/About/Conventions/ListOfConventions/Pages/International-Convention-for-the-Safety-of-Life-at-Sea-](http://www.imo.org/en/About/Conventions/ListOfConventions/Pages/International-Convention-for-the-Safety-of-Life-at-Sea-)]([http://www.imo.org/en/About/Conventions/ListOfConventions/Pages/International-Convention-for-the-Safety-of-Life-at-Sea-](http://www.imo.org/en/About/Conventions/ListOfConventions/Pages/International-Convention-for-the-Safety-of-Life-at-Sea-))(SOLAS),-1974.aspx) (SOLAS). The second is the SWIFT USV [203], designed to operate in shallow water and surf zones, also carrying a life-raft for four people, but incorporating lessons learned from the first UCAP. It is smaller and lighter than both EMILY and the first UCAP, but faster than the latter since it uses a water-jet propeller (like EMILY, trading efficiency for speed). Furthermore, it includes a robust pose estimation framework, with better estimators and hardware to reduce magnetic interference. Still, its life-raft deployment system was not tested. Later in 2016, a third UCAP was designed [204; 205] with slightly larger dimensions, incorporating features from the previous two designs. However, a comparison with previous versions of the UCAP is not provided. During the Robotic Exercises 2014 (REX'14) [206] the first two were deployed from the ROAZ USV [76], a larger USV. The ROAZ USV can map an area before the intervention of an UUV, or rapidly get to a SAR site carrying and deploying UCAPs. Field experiments in different locations were performed using the ROAZ USV combined with color and infrared (IR) cameras [207], for finding a person at sea and detecting obstacles. Their strategy encompasses the detection of the horizon line using an edge detector combined with a Hough transform-the search for casualties is performed below that line using the USV IR camera. The infrared camera contrast is improved, and a stereo pair of IR and color cameras is performed to determine de 3D position of the person at sea. The team presents evidence that the IR pattern of a person at sea is considerably salient--even at a distance and when the subject is wearing a swimsuit covering most of their body.