{"id":"https://openalex.org/W4241044091","doi":"https://doi.org/10.1109/ssrr.2016.7784311","title":"3D localization, mapping and path planning for search and rescue operations","display_name":"3D localization, mapping and path planning for search and rescue operations","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W4241044091","doi":"https://doi.org/10.1109/ssrr.2016.7784311"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5020474391","display_name":"Renaud Dub\u00e9","orcid":"https://orcid.org/0000-0003-0090-3667"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Dube","raw_affiliation_strings":["Autonomous Systems Lab-ETH, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027083332","display_name":"Abel Gawel","orcid":"https://orcid.org/0000-0003-2919-4040"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"A. Gawel","raw_affiliation_strings":["Autonomous Systems Lab-ETH, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"C. Cadena","raw_affiliation_strings":["Autonomous Systems Lab-ETH, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Siegwart","raw_affiliation_strings":["Autonomous Systems Lab-ETH, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab-ETH, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008569555","display_name":"Luigi Freda","orcid":"https://orcid.org/0000-0002-2268-6045"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Freda","raw_affiliation_strings":["ALCOR Lab, DIAG-Sapienza University of Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ALCOR Lab, DIAG-Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039006047","display_name":"Mario Gianni","orcid":"https://orcid.org/0000-0001-5410-2377"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Gianni","raw_affiliation_strings":["ALCOR Lab, DIAG-Sapienza University of Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ALCOR Lab, DIAG-Sapienza University of Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":33.1346,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.99266081,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"272","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.808438777923584},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.655510425567627},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6146408915519714},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6022036671638489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.599321186542511},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.5643993020057678},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.512241780757904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4349208474159241},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3435325026512146},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32673344016075134},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13836997747421265},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11852961778640747}],"concepts":[{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.808438777923584},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.655510425567627},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6146408915519714},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6022036671638489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.599321186542511},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.5643993020057678},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.512241780757904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4349208474159241},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3435325026512146},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32673344016075134},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13836997747421265},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11852961778640747},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr.2016.7784311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/947297","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/947297","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1482795231","https://openalex.org/W1508762313","https://openalex.org/W1515834983","https://openalex.org/W1953793983","https://openalex.org/W2043389781","https://openalex.org/W2080823437","https://openalex.org/W2160940277","https://openalex.org/W6630381904","https://openalex.org/W6630694010"],"related_works":["https://openalex.org/W4206733587","https://openalex.org/W2388951953","https://openalex.org/W2367640936","https://openalex.org/W3101748978","https://openalex.org/W2543684242","https://openalex.org/W2361811248","https://openalex.org/W4391252873","https://openalex.org/W2981213010","https://openalex.org/W2155005883","https://openalex.org/W2117893626"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"our":[3],"results":[4],"on":[5],"3D":[6,81],"robot":[7,86],"localization,":[8],"mapping":[9],"and":[10,40,48],"path":[11,61],"planning":[12],"for":[13,25],"the":[14,19,54,68,72,85],"latest":[15],"joint":[16],"exercise":[17],"of":[18],"European":[20],"project":[21],"\u201cLong-Term":[22],"Human-Robot":[23],"Teaming":[24],"Robots":[26],"Assisted":[27],"Disaster":[28],"Response\u201d":[29],"(TRADR)":[30],"<sup":[31],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[32],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[33],".":[34],"The":[35],"full":[36],"system":[37,55],"is":[38,56],"operated":[39],"evaluated":[41],"by":[42,67,84],"firemen":[43],"end-users":[44],"in":[45,71],"real-world":[46],"search":[47],"rescue":[49],"experiments.":[50],"We":[51],"demonstrate":[52],"that":[53],"able":[57],"to":[58,62],"plan":[59],"a":[60,63,79],"goal":[64],"position":[65],"desired":[66],"fireman":[69],"operator":[70],"TRADR":[73],"Operational":[74],"Control":[75],"Unit":[76],"(OCU),":[77],"using":[78],"persistent":[80],"map":[82],"created":[83],"during":[87],"previous":[88],"sorties.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-17T08:01:34.144755","created_date":"2025-10-10T00:00:00"}