{"id":"https://openalex.org/W1987428842","doi":"https://doi.org/10.1109/iros.2014.6942808","title":"Design of a Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D) for urban search and rescue applications","display_name":"Design of a Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D) for urban search and rescue applications","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1987428842","doi":"https://doi.org/10.1109/iros.2014.6942808","mag":"1987428842"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065081658","display_name":"Stella Latscha","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]},{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW","US"],"is_corresponding":false,"raw_author_name":"Stella Latscha","raw_affiliation_strings":["Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan","University of Pennsylvania, Philadelphia, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]},{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, United States","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027174752","display_name":"Michael Kofron","orcid":null},"institutions":[{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Michael Kofron","raw_affiliation_strings":["Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034152350","display_name":"Anthony Stroffolino","orcid":null},"institutions":[{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Anthony Stroffolino","raw_affiliation_strings":["Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Yuan Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069686900","display_name":"Lauren Davis","orcid":"https://orcid.org/0000-0002-4958-5375"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lauren Davis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023816671","display_name":"Gabrielle Merritt","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gabrielle Merritt","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023171116","display_name":"Matthew Piccoli","orcid":"https://orcid.org/0000-0001-9449-7094"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Piccoli","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, United States","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, United States","institution_ids":["https://openalex.org/I922845939","https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1868","last_page":"1873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8446940183639526},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.790648877620697},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7624038457870483},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7531967163085938},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.7220539450645447},{"id":"https://openalex.org/keywords/rubble","display_name":"Rubble","score":0.5986937284469604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5144586563110352},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.4855658710002899},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4404866695404053},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4205607771873474},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.38963454961776733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35379356145858765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28466904163360596},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10430842638015747},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.08422467112541199},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.08347281813621521}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8446940183639526},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.790648877620697},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7624038457870483},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7531967163085938},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.7220539450645447},{"id":"https://openalex.org/C2777929537","wikidata":"https://www.wikidata.org/wiki/Q1225329","display_name":"Rubble","level":2,"score":0.5986937284469604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5144586563110352},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.4855658710002899},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4404866695404053},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4205607771873474},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.38963454961776733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35379356145858765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28466904163360596},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10430842638015747},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.08422467112541199},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.08347281813621521},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1544323403","https://openalex.org/W1990101796","https://openalex.org/W2004910967","https://openalex.org/W2025004307","https://openalex.org/W2032422811","https://openalex.org/W2033719238","https://openalex.org/W2033910955","https://openalex.org/W2054818893","https://openalex.org/W2057960295","https://openalex.org/W2066399143","https://openalex.org/W2078436852","https://openalex.org/W2081147888","https://openalex.org/W2090370942","https://openalex.org/W2099210720","https://openalex.org/W2116116881","https://openalex.org/W2120906125","https://openalex.org/W2121954977","https://openalex.org/W2123297103","https://openalex.org/W2127940313","https://openalex.org/W2128798012","https://openalex.org/W2152735424","https://openalex.org/W2167950218","https://openalex.org/W2294416892","https://openalex.org/W3193680531","https://openalex.org/W6678878438","https://openalex.org/W6696759840","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W2684320620","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W4206733587","https://openalex.org/W2156329176","https://openalex.org/W2634048584","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W2321407965","https://openalex.org/W1971295396"],"abstract_inverted_index":{"Disaster":[0],"scenarios":[1],"involve":[2,26],"a":[3,57,103],"multitude":[4],"of":[5,61,86,95,99,109,115],"obstacles":[6,71],"that":[7,30],"are":[8],"difficult":[9,36,70],"to":[10,23,34,112],"traverse":[11],"for":[12,51],"humans":[13],"and":[14,20,53,84,93,105],"robots":[15,29,41,65,111],"alike.":[16],"Most":[17],"robotic":[18],"search":[19],"rescue":[21],"solutions":[22],"this":[24],"problem":[25],"large,":[27],"tank-like":[28],"use":[31],"brute":[32],"force":[33],"cross":[35],"terrain;":[37],"however,":[38],"these":[39],"large":[40],"may":[42],"cause":[43],"secondary":[44],"damage.":[45],"H.E.R.A.L.D,":[46],"the":[47,81,96,100,107,110,113,116],"Hybrid":[48],"Exploration":[49],"Robot":[50],"Air":[52],"Land":[54],"Deployment,":[55],"is":[56],"novel":[58],"integrated":[59],"system":[60,101],"three":[62],"nimble,":[63],"lightweight":[64],"which":[66],"can":[67],"travel":[68,76],"over":[69],"by":[72],"air,":[73],"but":[74],"also":[75],"through":[77],"rubble.":[78],"We":[79],"present":[80],"design":[82,92],"methodology":[83],"optimization":[85],"each":[87],"robot,":[88],"as":[89,91,102],"well":[90],"testing":[94],"physical":[97],"integration":[98],"whole,":[104],"compare":[106],"performance":[108],"state":[114],"art.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
