  Using a game engine, we have developed a virtual environment which models
important aspects of critical incident scenarios. We focused on modelling
phenomena relating to the identification and gathering of key forensic
evidence, in order to develop and test a system which can handle chemical,
biological, radiological/nuclear or explosive (CBRNe) events autonomously. This
allows us to build and validate AI-based technologies, which can be trained and
tested in our custom virtual environment before being deployed in real-world
scenarios. We have used our virtual scenario to rapidly prototype a system
which can use simulated Remote Aerial Vehicles (RAVs) to gather images from the
environment for the purpose of mapping. Our environment provides us with an
effective medium through which we can develop and test various AI methodologies
for critical incident scene assessment, in a safe and controlled manner
