{"id":"https://openalex.org/W7163016863","doi":"https://doi.org/10.1109/access.2026.3699128","title":"Toward Autonomous UGV-Based Radio-Frequency Measurement Campaigns: Tutorial and Application","display_name":"Toward Autonomous UGV-Based Radio-Frequency Measurement Campaigns: Tutorial and Application","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7163016863","doi":"https://doi.org/10.1109/access.2026.3699128"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3699128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3699128","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://doi.org/10.1109/access.2026.3699128","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137585827","display_name":"Martina Callea","orcid":"https://orcid.org/0009-0005-9365-2183"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Martina Callea","raw_affiliation_strings":["Dipartimento di Ingegneria Elettronica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0009-0005-9365-2183","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettronica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084106374","display_name":"Roberto Masocco","orcid":"https://orcid.org/0000-0003-0058-5531"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Masocco","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0058-5531","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067411413","display_name":"Alexandru Cretu","orcid":null},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alexandru Cretu","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0009-0007-3494-0032","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137597899","display_name":"Giorgio Manca","orcid":null},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Manca","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009037716","display_name":"Alessandro Tenaglia","orcid":"https://orcid.org/0000-0003-0512-1111"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Tenaglia","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0512-1111","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014883708","display_name":"Simone Mattogno","orcid":"https://orcid.org/0000-0003-0756-3984"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Mattogno","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013356277","display_name":"Luca Chiaraviglio","orcid":"https://orcid.org/0000-0002-5350-2691"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Chiaraviglio","raw_affiliation_strings":["Dipartimento di Ingegneria Elettronica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5350-2691","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettronica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041336190","display_name":"D. Franci","orcid":"https://orcid.org/0000-0003-0096-6094"},"institutions":[{"id":"https://openalex.org/I4210116113","display_name":"Istituto Superiore per la Protezione e la Ricerca Ambientale","ror":"https://ror.org/022zv0672","country_code":"IT","type":"government","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210116113","https://openalex.org/I4210117642"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Franci","raw_affiliation_strings":["Istituto Superiore per la Protezione e la Ricerca Ambientale, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0096-6094","affiliations":[{"raw_affiliation_string":"Istituto Superiore per la Protezione e la Ricerca Ambientale, Rome, Italy","institution_ids":["https://openalex.org/I4210116113"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048976215","display_name":"Settimio Pavoncello","orcid":"https://orcid.org/0000-0002-1089-4103"},"institutions":[{"id":"https://openalex.org/I114007267","display_name":"Agenzia Regionale per la Protezione Ambientale del Piemonte","ror":"https://ror.org/00qrc8a81","country_code":"IT","type":"government","lineage":["https://openalex.org/I114007267","https://openalex.org/I4405255721"]},{"id":"https://openalex.org/I4210132340","display_name":"Agenzia Regionale per la Protezione dell'ambiente ligure","ror":"https://ror.org/0419b2556","country_code":"IT","type":"government","lineage":["https://openalex.org/I4210132340","https://openalex.org/I4405255721"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Settimio Pavoncello","raw_affiliation_strings":["Agenzia Regionale per la Protezione Ambientale del Lazio (ARPA Lazio), Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1089-4103","affiliations":[{"raw_affiliation_string":"Agenzia Regionale per la Protezione Ambientale del Lazio (ARPA Lazio), Rome, Italy","institution_ids":["https://openalex.org/I114007267","https://openalex.org/I4210132340"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074508810","display_name":"G. Marsico","orcid":"https://orcid.org/0000-0001-9353-8659"},"institutions":[{"id":"https://openalex.org/I4210116113","display_name":"Istituto Superiore per la Protezione e la Ricerca Ambientale","ror":"https://ror.org/022zv0672","country_code":"IT","type":"government","lineage":["https://openalex.org/I4210104593","https://openalex.org/I4210116113","https://openalex.org/I4210117642"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Marsico","raw_affiliation_strings":["Istituto Superiore per la Protezione e la Ricerca Ambientale, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4676-8803","affiliations":[{"raw_affiliation_string":"Istituto Superiore per la Protezione e la Ricerca Ambientale, Rome, Italy","institution_ids":["https://openalex.org/I4210116113"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083999378","display_name":"D. Carnevale","orcid":"https://orcid.org/0000-0001-6214-7938"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Carnevale","raw_affiliation_strings":["Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6214-7938","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Civile e Ingegneria Informatica, Universit&#x00E0; degli Studi di Roma Tor Vergata, Rome, Italy","institution_ids":["https://openalex.org/I116067653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.82743875,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"83139","last_page":"83156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.11150000244379044,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.11150000244379044,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10936","display_name":"Millimeter-Wave Propagation and Modeling","score":0.0868000015616417,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13121","display_name":"Radio Wave Propagation Studies","score":0.07400000095367432,"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/software","display_name":"Software","score":0.24580000340938568},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.21889999508857727},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.21809999644756317},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.21459999680519104}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7293000221252441},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2558000087738037},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2549999952316284},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.24580000340938568},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.24539999663829803},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.22930000722408295},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.22849999368190765},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.21889999508857727},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.21809999644756317},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.21459999680519104}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3699128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3699128","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a06ab567a60e416ea6061ff7911bba35","is_oa":true,"landing_page_url":"https://doaj.org/article/a06ab567a60e416ea6061ff7911bba35","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 14, Pp 83139-83156 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3699128","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3699128","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7205771190","display_name":null,"funder_award_id":"PE00000001","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In-situ":[0],"RF":[1,52,65,84,134,172],"measurements":[2],"are":[3],"essential":[4],"for":[5,45,63,149],"regulatory":[6],"Electromagnetic":[7],"Field":[8],"(EMF)":[9],"exposure":[10,155],"assessment":[11],"and":[12,34,50,72,86,96,105,153,167],"radio":[13,109],"coverage":[14,151],"characterization.":[15],"These":[16,42],"tasks":[17],"have":[18],"historically":[19],"relied":[20],"on":[21,25,121],"labor-intensive":[22],"surveys":[23],"based":[24],"discrete":[26],"spot":[27],"measurements,":[28],"which":[29],"provide":[30],"limited":[31],"spatial":[32],"resolution":[33],"therefore":[35],"often":[36],"require":[37],"support":[38],"from":[39],"simulation":[40],"tools.":[41],"limitations":[43],"call":[44],"a":[46,58,77,122,128,165],"shift":[47],"toward":[48],"automated":[49],"scalable":[51,166],"measurement":[53,66,103,119,147,173],"campaigns.":[54],"This":[55],"paper":[56],"formalizes":[57],"set":[59],"of":[60,146,160],"design":[61],"guidelines":[62],"autonomous":[64,87,144],"campaigns":[67],"using":[68,127],"mobile":[69],"robotic":[70,88],"platforms":[71],"illustrates":[73],"their":[74],"implementation":[75],"within":[76],"modular":[78],"system":[79,141],"architecture,":[80],"showing":[81],"howto":[82],"integrate":[83],"sensing":[85],"navigation":[89],"to":[90,101,170],"enable":[91],"consistent,":[92],"geo-referenced":[93],"data":[94],"collection":[95],"adaptive":[97],"acquisition":[98],"strategies":[99],"tailored":[100],"specific":[102],"objectives":[104],"driven":[106],"by":[107],"observed":[108],"conditions.":[110],"The":[111],"proposed":[112,162],"framework":[113],"is":[114],"validated":[115],"through":[116],"an":[117],"outdoor":[118],"campaign":[120],"private":[123],"5G":[124],"Standalone":[125],"network":[126],"quadruped":[129],"robot":[130],"equipped":[131],"with":[132],"professional":[133],"instrumentation.":[135],"Experimental":[136],"results":[137],"show":[138],"that":[139],"the":[140,143,158,161],"supports":[142],"execution":[145],"missions":[148],"both":[150],"characterization":[152],"EMF":[154],"assessment,":[156],"demonstrating":[157],"potential":[159],"approach":[163],"as":[164],"effective":[168],"alternative":[169],"traditional":[171],"practices.":[174]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}
