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Natural and man-made disasters have devastating consequences, leading to the loss of both life and property. Regrettably, one of the major challenges faced during such catastrophic events is the slow rescue process, which often contributes to increased casualties. To address this critical issue, this project aims to develop a multi-modal rescue-assist system using IoT-based Mobile Rescue Assist Platforms (MoRAP) for search and rescue missions. The system focuses on improving the efficiency and effectiveness of rescue operations, reducing response time, and ensuring public safety. The system architecture consists of autonomous aerial and terrestrial platforms, including AeMoRAP (Autonomous aerial Mobile Rescue Assist Platform), TeMoRAP (Terrestrial Mobile Rescue Assist Platform), smart building controllers, ground control station (GCS), and emergency monitoring station (EMS). These components collect real-time visual information sensor data and perform data analysis for informed decision-making.