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This work establishes COMPRA, a compact and reactive autonomy framework forfast deployment of Micro Aerial Vehicles (MAVs) in subterraneanSearch-and-Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomouslyexplore previously unknown areas while specific mission criteria are considerede.g. an object of interest is identified and localized, the remaining usefulbattery life, the overall desired exploration mission duration. The proposedarchitecture follows a low-complexity algorithmic design to facilitate fullyon-board computations, including nonlinear control, state-estimation,navigation, exploration behavior and object localization capabilities. Theframework is mainly structured around a reactive local avoidance planner, basedon enhanced Potential Field concepts and using instantaneous 3D pointclouds, aswell as a computationally efficient heading regulation technique, based ondepth images from an instantaneous camera stream. Those techniques decouple thecollision-free path generation from the dependency of a global map and arecapable of handling imprecise localization occasions. Field experimentalverification of the overall architecture is performed in relevant unknownGlobal Positioning System (GPS)-denied environments.

COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations