TABLE 5.

Characteristics of reinforcement learning based search and rescue.

Characteristic	Description
Objective	Locate and assist or recover targets
State Representation	Environmental features, grid cells, target locations
Action Space	Movement actions, alarm/communicate, sensing actions
Reward Function	Rewards for finding targets, exploration, safe navigation
Observation	Sensor data for navigation or target detection (e.g., vision or LiDAR)
Challenges	Handling dynamic environments, long horizons, target detection
Citations	Zuluaga et al. (2018); Sampedro Pérez et al. (2019); Peake et al. (2020); Kulkarni et al. (2020); Ai et al. (2021)