The aim of the project is to develop, a highly agile autonomous robotic system, that will include a Portable control station and a mini/micro Unmanned Aerial Vehicle (UAV) capable of navigating in indoor GPS-denied environments. The main objective of the system’s mission will be to monitor indoor areas and to locate trapped or stranded people in emergency situations (e.g. buildings that have collapsed or are in the process of collapsing, facilities with hazardous gas leaks, etc.). The UAV is developed with a focus on efficient interaction with the operator/rescuer, providing easy and effective handling, as well as increasing its supervisory capability in search and rescue operations. The UAV features range of various sensors and cameras which along with the robotic vision system employed, enable it to identify and avoid obstacles, and navigate autonomously in dangerous confined areas.