{"id":"https://openalex.org/W4366966656","doi":"https://doi.org/10.1109/access.2023.3269981","title":"Multi-Level Indoor Path Planning and Clearance-Based Path Optimization for Search and Rescue Operations","display_name":"Multi-Level Indoor Path Planning and Clearance-Based Path Optimization for Search and Rescue Operations","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4366966656","doi":"https://doi.org/10.1109/access.2023.3269981"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3269981","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3269981","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10107604.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10107604.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100416272","display_name":"Jihoon Lee","orcid":"https://orcid.org/0000-0001-5327-824X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jihoon Lee","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5327-824X","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013359767","display_name":"Heein Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heein Park","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006517279","display_name":"Youdan Kim","orcid":"https://orcid.org/0000-0001-5041-8243"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youdan Kim","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","Institute of Advanced Aerospace Technology, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5041-8243","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Institute of Advanced Aerospace Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054791152","display_name":"Chan Gook Park","orcid":"https://orcid.org/0000-0002-7403-951X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Gook Park","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","Institute of Advanced Aerospace Technology, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7403-951X","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Institute of Advanced Aerospace Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100705626","display_name":"Jae Hong Lee","orcid":"https://orcid.org/0000-0002-8222-5435"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae Hong Lee","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-8222-5435","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100416272"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.1582,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.80324856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"40930","last_page":"40943"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8509306907653809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7404323220252991},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.7300063371658325},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6399065852165222},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5931463241577148},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5815026760101318},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49223509430885315},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4672899842262268},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4365031123161316},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4194784164428711},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33210161328315735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21174660325050354},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13703909516334534},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10052791237831116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07865545153617859},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07273918390274048}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8509306907653809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7404323220252991},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.7300063371658325},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6399065852165222},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5931463241577148},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5815026760101318},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49223509430885315},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4672899842262268},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4365031123161316},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4194784164428711},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33210161328315735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21174660325050354},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13703909516334534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10052791237831116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07865545153617859},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07273918390274048},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3269981","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3269981","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10107604.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:83f40f0cd4fb45d1b95c675d97b76e0e","is_oa":true,"landing_page_url":"https://doaj.org/article/83f40f0cd4fb45d1b95c675d97b76e0e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 40930-40943 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3269981","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3269981","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10107604.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G6512253350","display_name":null,"funder_award_id":"2019-0-01325","funder_id":"https://openalex.org/F4320329637","funder_display_name":"National Fire Agency"},{"id":"https://openalex.org/G8430638309","display_name":null,"funder_award_id":"2019-0-01325","funder_id":"https://openalex.org/F4320335489","funder_display_name":"Institute for Information and Communications Technology Promotion"}],"funders":[{"id":"https://openalex.org/F4320324891","display_name":"Iran Telecommunication Research Center","ror":"https://ror.org/01a3g2z22"},{"id":"https://openalex.org/F4320329637","display_name":"National Fire Agency","ror":null},{"id":"https://openalex.org/F4320335489","display_name":"Institute for Information and Communications Technology Promotion","ror":"https://ror.org/01g0hqq23"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4366966656.pdf","grobid_xml":"https://content.openalex.org/works/W4366966656.grobid-xml"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W135180951","https://openalex.org/W1763528081","https://openalex.org/W1937587174","https://openalex.org/W1969483458","https://openalex.org/W1969839206","https://openalex.org/W1971086298","https://openalex.org/W1980621898","https://openalex.org/W1991290239","https://openalex.org/W1997880753","https://openalex.org/W2000359213","https://openalex.org/W2012298116","https://openalex.org/W2023905012","https://openalex.org/W2034801091","https://openalex.org/W2092507038","https://openalex.org/W2100656238","https://openalex.org/W2104691494","https://openalex.org/W2106473816","https://openalex.org/W2111186563","https://openalex.org/W2116772004","https://openalex.org/W2119159374","https://openalex.org/W2128990851","https://openalex.org/W2134348961","https://openalex.org/W2141664020","https://openalex.org/W2144067986","https://openalex.org/W2145339207","https://openalex.org/W2162651730","https://openalex.org/W2163670193","https://openalex.org/W2167348159","https://openalex.org/W2168430074","https://openalex.org/W2185099718","https://openalex.org/W2248868695","https://openalex.org/W2288650507","https://openalex.org/W2345111710","https://openalex.org/W2359757004","https://openalex.org/W2596152647","https://openalex.org/W2736601468","https://openalex.org/W2787938642","https://openalex.org/W2792016338","https://openalex.org/W2796604629","https://openalex.org/W2896374256","https://openalex.org/W2904246096","https://openalex.org/W2904612118","https://openalex.org/W2951061902","https://openalex.org/W2981562293","https://openalex.org/W3011646207","https://openalex.org/W3111557578","https://openalex.org/W3131379838","https://openalex.org/W3134337851","https://openalex.org/W3141583383","https://openalex.org/W3176761908","https://openalex.org/W3198790060","https://openalex.org/W3204444418","https://openalex.org/W3207057528","https://openalex.org/W4210387723","https://openalex.org/W4229051578","https://openalex.org/W4236470048","https://openalex.org/W4285088740","https://openalex.org/W4285093429","https://openalex.org/W4313641031","https://openalex.org/W6605295560","https://openalex.org/W6648231039","https://openalex.org/W6656187015","https://openalex.org/W6676022314","https://openalex.org/W6678861937","https://openalex.org/W6683784282","https://openalex.org/W6741002519","https://openalex.org/W6748839928","https://openalex.org/W6757592117"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2904203243","https://openalex.org/W2359600231","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"In":[0],"this":[1],"study":[2],"a":[3,84,90,94,100,117],"multi-level":[4],"path":[5,19,39,60,71,78,86,140],"planning":[6,20,40,61,87,141],"system":[7,21,62,142],"is":[8,56,63,120,143],"proposed":[9,81,139],"for":[10,17],"indoor":[11,32,54],"search":[12,48],"and":[13,44,49,77,113,127],"rescue":[14,50],"operations.":[15],"Requirements":[16],"the":[18,26,30,111,124,138],"are":[22,42],"derived":[23],"based":[24],"on":[25],"operational":[27],"concept":[28],"of":[29,37,67,137],"integrated":[31],"navigation":[33],"system.":[34],"Different":[35],"aspects":[36],"various":[38],"algorithms":[41],"assessed,":[43],"their":[45],"suitability":[46],"to":[47,122,132],"operations":[51],"in":[52,89,93,110],"structured":[53],"environments":[55],"investigated.":[57],"A":[58],"five-step":[59],"proposed,":[64],"which":[65],"consists":[66],"map":[68],"pre-processing,":[69],"segment":[70],"planning,":[72],"graph":[73],"processing,":[74],"route":[75],"optimization,":[76],"post-processing.":[79],"The":[80,135],"method":[82],"addresses":[83],"multi-goal":[85],"problem":[88],"multi-story":[91],"building":[92],"computationally":[95],"efficient":[96],"way":[97],"by":[98],"adopting":[99],"graph-based":[101],"approach":[102,119],"while":[103],"satisfying":[104],"such":[105],"requirements":[106],"as":[107],"clearance":[108],"conditions":[109],"pre-":[112],"post-processing":[114],"steps.":[115],"Furthermore,":[116],"multi-query":[118],"adopted":[121],"exploit":[123],"response":[125],"time":[126],"earn":[128],"flexibility":[129],"with":[130],"respect":[131],"environmental":[133],"changes.":[134],"effectiveness":[136],"demonstrated":[144],"through":[145],"numerical":[146],"simulations.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
