{"id":"https://openalex.org/W4416748837","doi":"https://doi.org/10.1109/iros60139.2025.11247372","title":"Swarm Active Audition with Robots and Drones: Real-World Performance Validation","display_name":"Swarm Active Audition with Robots and Drones: Real-World Performance Validation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748837","doi":"https://doi.org/10.1109/iros60139.2025.11247372"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5091708408","display_name":"Kazuhiro Nakadai","orcid":"https://orcid.org/0000-0002-6134-4558"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Nakadai","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049821201","display_name":"Kotaro Hoshiba","orcid":"https://orcid.org/0000-0002-9052-331X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kotaro Hoshiba","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042063575","display_name":"Benjamin Yen","orcid":"https://orcid.org/0000-0002-6958-7319"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Benjamin Yen","raw_affiliation_strings":["Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,School of Engineering,Tokyo,Japan,152-8552","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021370810","display_name":"Makoto Kumon","orcid":"https://orcid.org/0000-0003-4278-829X"},"institutions":[{"id":"https://openalex.org/I96036126","display_name":"Kumamoto University","ror":"https://ror.org/02cgss904","country_code":"JP","type":"education","lineage":["https://openalex.org/I96036126"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Makoto Kumon","raw_affiliation_strings":["Kumamoto University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kumamoto University","institution_ids":["https://openalex.org/I96036126"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102748358","display_name":"Yoko Sasaki","orcid":"https://orcid.org/0000-0002-1220-6124"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoko Sasaki","raw_affiliation_strings":["The National Institute of Advanced Industrial Science and Technology (AIST)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The National Institute of Advanced Industrial Science and Technology (AIST)","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38958218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6107","last_page":"6112"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.5856000185012817,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10860","display_name":"Speech and Audio Processing","score":0.5856000185012817,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.11349999904632568,"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/T11309","display_name":"Music and Audio Processing","score":0.03449999913573265,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/drone","display_name":"Drone","score":0.8812000155448914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7206000089645386},{"id":"https://openalex.org/keywords/microphone","display_name":"Microphone","score":0.6722000241279602},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5630000233650208},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5406000018119812},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5327000021934509}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8812000155448914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7206000089645386},{"id":"https://openalex.org/C2778263558","wikidata":"https://www.wikidata.org/wiki/Q46384","display_name":"Microphone","level":3,"score":0.6722000241279602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6238999962806702},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5630000233650208},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5406000018119812},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5327000021934509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46790000796318054},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45489999651908875},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42239999771118164},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.3628000020980835},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33959999680519104},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3050999939441681},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2842999994754791},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.27649998664855957},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2734000086784363}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2029661668","https://openalex.org/W2036647862","https://openalex.org/W2061277372","https://openalex.org/W2063521662","https://openalex.org/W2109355036","https://openalex.org/W2214541701","https://openalex.org/W2294801854","https://openalex.org/W2538903081","https://openalex.org/W2564703596","https://openalex.org/W2566088759","https://openalex.org/W2591710647","https://openalex.org/W2592600618","https://openalex.org/W2594538140","https://openalex.org/W2673086341","https://openalex.org/W2738996585","https://openalex.org/W2773497457","https://openalex.org/W2796538318","https://openalex.org/W2900160352","https://openalex.org/W3003821064","https://openalex.org/W3004019224","https://openalex.org/W3010672229","https://openalex.org/W3081138412","https://openalex.org/W3196962932","https://openalex.org/W4200125470","https://openalex.org/W4205418791","https://openalex.org/W4211237400","https://openalex.org/W4381616373","https://openalex.org/W4388110117","https://openalex.org/W4390122503","https://openalex.org/W4399669132","https://openalex.org/W4406859671","https://openalex.org/W4406861204"],"related_works":[],"abstract_inverted_index":{"Search":[0],"and":[1,88,126,130,142,148,169],"rescue":[2],"(SAR)":[3],"operations":[4],"in":[5,33,53,86,91,166],"large-scale":[6,188],"disaster":[7],"sites,":[8],"such":[9,44,94],"as":[10,95,183],"areas":[11],"affected":[12],"by":[13],"earthquakes,":[14],"require":[15],"rapid":[16],"victim":[17],"detection.":[18],"While":[19],"drones":[20,147],"equipped":[21],"with":[22,110,140],"cameras":[23],"are":[24,57],"commonly":[25],"used":[26],"for":[27,187],"SAR,":[28],"their":[29],"effectiveness":[30],"is":[31],"limited":[32],"visually":[34],"obstructed":[35],"environments,":[36],"because":[37],"of":[38,68,104,181],"debris,":[39],"smoke,":[40],"or":[41,98,117],"fog.":[42],"Under":[43],"situations,":[45],"auditory":[46],"information":[47],"can":[48],"play":[49],"a":[50,128,184],"crucial":[51],"role":[52],"locating":[54],"victims":[55],"who":[56],"not":[58],"visible.":[59],"Existing":[60],"drone":[61],"audition":[62,106],"research":[63],"has":[64],"demonstrated":[65],"the":[66,179],"feasibility":[67,172],"detecting":[69],"sound":[70],"sources":[71],"using":[72],"onboard":[73],"microphone":[74],"arrays.":[75],"However,":[76],"most":[77],"studies":[78,112],"focus":[79],"on":[80,115,159],"single-drone":[81],"systems,":[82],"which":[83],"face":[84],"limitations":[85],"coverage":[87],"accessibility,":[89],"particularly":[90],"complex":[92],"environments":[93,168],"collapsed":[96],"buildings":[97],"urban":[99],"canyons.":[100],"Additionally,":[101],"real-world":[102,160],"validation":[103],"multi-drone":[105],"systems":[107],"remains":[108],"limited,":[109],"prior":[111],"relying":[113],"primarily":[114],"simulations":[116],"controlled":[118],"environments.":[119],"To":[120],"address":[121],"these":[122],"challenges,":[123],"we":[124],"propose":[125],"evaluate":[127],"Multi-Drone":[129],"Robot-Based":[131],"Active":[132,137],"Audition":[133,138],"System":[134,139],"(SAAS-RD:":[135],"Swarm":[136],"Robots":[141],"Drones)":[143],"that":[144],"integrates":[145],"multiple":[146],"ground":[149],"robots":[150],"to":[151],"enhance":[152],"acoustic":[153],"search":[154],"capabilities.":[155],"Our":[156],"work":[157],"focuses":[158],"performance":[161],"validation,":[162],"conducting":[163],"field":[164],"experiments":[165],"outdoor":[167],"analyzing":[170],"system":[171],"through":[173],"case":[174],"studies.":[175],"The":[176],"results":[177],"demonstrate":[178],"potential":[180],"SAAS-RD":[182],"practical":[185],"solution":[186],"SAR":[189],"operations.":[190]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}