{"id":"https://openalex.org/W3147173284","doi":"https://doi.org/10.1109/lra.2021.3067859","title":"Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments","display_name":"Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments","publication_year":2021,"publication_date":"2021-03-23","ids":{"openalex":"https://openalex.org/W3147173284","doi":"https://doi.org/10.1109/lra.2021.3067859","mag":"3147173284"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3067859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067859","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-03161639","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074771551","display_name":"Marco Aggravi","orcid":"https://orcid.org/0000-0001-7911-426X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marco Aggravi","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0001-7911-426X","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025314420","display_name":"Ahmed Alaaeldin Said Elsherif","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Alaaeldin Said Elsherif","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067595490","display_name":"Paolo Robuffo Giordano","orcid":"https://orcid.org/0000-0001-6919-7751"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Paolo Robuffo Giordano","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0001-6919-7751","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058355041","display_name":"Claudio Pacchierotti","orcid":"https://orcid.org/0000-0002-8006-9168"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Claudio Pacchierotti","raw_affiliation_strings":["CNRS, Univ Rennes, Inria, IRISA, Rennes, France","Sensor-based and interactive robotics"],"raw_orcid":"https://orcid.org/0000-0002-8006-9168","affiliations":[{"raw_affiliation_string":"CNRS, Univ Rennes, Inria, IRISA, Rennes, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802519937","https://openalex.org/I56067802"]},{"raw_affiliation_string":"Sensor-based and interactive robotics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2597,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.88980022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"4843","last_page":"4850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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":0.9977999925613403,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9977999925613403,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/search-and-rescue","display_name":"Search and rescue","score":0.7666647434234619},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7511625289916992},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5864354372024536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5261656641960144},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.5109626054763794},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48697027564048767},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4504394233226776},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4467669427394867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28861868381500244},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12514153122901917}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.7666647434234619},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7511625289916992},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5864354372024536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5261656641960144},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.5109626054763794},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48697027564048767},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4504394233226776},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4467669427394867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28861868381500244},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12514153122901917}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3067859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3067859","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-03161639v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03161639","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (3), pp.4843-4850. &#x27E8;10.1109/LRA.2021.3067859&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03161639v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-03161639","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2021, 6 (3), pp.4843-4850. &#x27E8;10.1109/LRA.2021.3067859&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5}],"awards":[{"id":"https://openalex.org/G8689147215","display_name":"Shared-Control Algorithms for Human/Multi-Robot Cooperation","funder_award_id":"ANR-20-CHIA-0017","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1126974217","https://openalex.org/W1603705555","https://openalex.org/W1846208418","https://openalex.org/W1967114222","https://openalex.org/W1996819900","https://openalex.org/W2001447996","https://openalex.org/W2025904705","https://openalex.org/W2034591033","https://openalex.org/W2048903599","https://openalex.org/W2063596703","https://openalex.org/W2071263309","https://openalex.org/W2076518796","https://openalex.org/W2107664584","https://openalex.org/W2110795172","https://openalex.org/W2143814744","https://openalex.org/W2143839061","https://openalex.org/W2207160835","https://openalex.org/W2238191081","https://openalex.org/W2254288984","https://openalex.org/W2327790371","https://openalex.org/W2529703035","https://openalex.org/W2551044109","https://openalex.org/W2604427834","https://openalex.org/W2742364505","https://openalex.org/W2773205132","https://openalex.org/W2788901249","https://openalex.org/W2794292089","https://openalex.org/W2801909512","https://openalex.org/W2885564406","https://openalex.org/W3022975130","https://openalex.org/W3034293205","https://openalex.org/W3146827622","https://openalex.org/W4206579740","https://openalex.org/W4245205643","https://openalex.org/W4285719527","https://openalex.org/W6610028881","https://openalex.org/W6691621831","https://openalex.org/W6728259956"],"related_works":["https://openalex.org/W3174027453","https://openalex.org/W2065470608","https://openalex.org/W1488897159","https://openalex.org/W2117893626","https://openalex.org/W1979426194","https://openalex.org/W341083634","https://openalex.org/W257921636","https://openalex.org/W2150452417","https://openalex.org/W2160229054","https://openalex.org/W2102829388"],"abstract_inverted_index":{"Teams":[0],"of":[1,43,47,67,75,121],"coordinated":[2,41],"robots":[3,49],"have":[4],"been":[5],"proven":[6],"useful":[7],"in":[8,71,102,117],"several":[9],"high-impact":[10],"applications,":[11],"including":[12],"urban":[13],"search":[14],"and":[15,18,50,58,87,104,115,144],"rescue":[16],"(USAR)":[17],"disaster":[19],"response.":[20],"In":[21],"this":[22],"context,":[23],"we":[24],"present":[25],"a":[26,44,91,118],"decentralized":[27],"haptic-enabled":[28],"connectivity-maintenance":[29],"control":[30],"framework":[31,38],"for":[32,53],"heterogeneous":[33],"human-robot":[34],"teams.":[35],"The":[36,61],"proposed":[37,111],"controls":[39],"the":[40,68,72,76,84,88,110,141,145,153],"motion":[42],"team":[45,85,142],"consisting":[46],"mobile":[48],"one":[51],"human,":[52],"collaboratively":[54],"achieving":[55],"various":[56],"exploration":[57],"SAR":[59,122],"tasks.":[60],"human":[62,98],"user":[63],"physically":[64],"becomes":[65],"part":[66],"team,":[69],"moving":[70],"same":[73,154],"environment":[74],"robots,":[77],"while":[78],"receiving":[79],"rich":[80],"haptic":[81,126],"feedback":[82,127,139],"about":[83],"connectivity":[86,143],"direction":[89],"toward":[90],"safe":[92],"path.":[93],"We":[94],"carried":[95],"out":[96],"two":[97],"subjects":[99],"studies,":[100],"both":[101],"simulated":[103],"real":[105],"environments.":[106],"Results":[107],"show":[108],"that":[109],"approach":[112],"is":[113],"effective":[114],"viable":[116],"wide":[119],"range":[120],"scenarios.":[123],"Moreover,":[124],"providing":[125,132,152],"showed":[128],"increased":[129],"performance":[130],"w.r.t.":[131],"visual":[133],"information":[134,155],"only.":[135],"Finally,":[136],"conveying":[137],"distinct":[138],"regarding":[140],"path":[146],"to":[147],"follow":[148],"performed":[149],"better":[150],"than":[151],"combined":[156],"together.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
