ABSTRACT
Two popular vehicles are used for the purpose including ground and aerial vehicles (Richardson et al. 2011). The ground vehicle can carry several special sensors to detect carbon dioxide, propane, temperature and others. Such vehicle can easily travel on flat ground, but is not suitable for bumpy ground or puddles. Topographical constraints compel the ground vehicle to perform the route planning in the disaster scene, but the aerial vehicle can easily approach without such route planning. However, aerial vehicle is not suitable for locations with strong winds. It also cannot carry the gas sensors to detect the scene since the vehicle cannot be close enough to the scene.
