Our research into robot search teams is conducted primarily in the domain of Urban Search and Rescue (USAR), characterised by collapsed man-made structures. This terrain is often treacherous, requiring the robots to have sufficient navigational sensors in addition to their mission sensors and for rescuers wearing protective garments, and barrier materials to protect themselves while equipped with essential devices and sensors. False negative have deadly consequences for a victim who goes undetected, while false positives might actively interfere with rescuers effectively in accomplishing...