Nosenchuck, Daniel MarkFlores, Osvaldo2025-08-192025-08-192025-04-23https://theses-dissertations.princeton.edu/handle/88435/dsp01c534fs41fFyreFly is a technology demonstrator designed to aid first responders in a variety of fire scenarios through semi-autonomous systems targeting search, rescue, and delivery. Motivated by the need to reduce fatalities caused by smoke inhalation and remove barriers of access to trapped victims, this project presents a novel drone platform capable of assisting in identifying at-risk individuals, breaching glass windows, and delivering survival equipment. Leveraging the payload capacity of a Holybro X650, FyreFly integrates a spring-loaded window breaker, a precision package delivery system, and a smart camera framework utilizing YOLO and AprilTags for live object recognition. Throughout the design process, emphasis was placed on the modularity of parts and field repairability, incorporating 3D-printed components for rapid prototyping. FyreFly’s various subsystems were validated using experimental testing, achieving over 98% delivery accuracy and consistent success in breaking through various types of structural glass. Through this report, FyreFly is demonstrated to be a proof-of-concept serving as the foundational architecture for future drone swarms tasked with life-saving missions in urban disaster environments.en-USPrinceton University Senior Theses