{"id":"https://openalex.org/W4320059739","doi":"https://doi.org/10.1109/ssrr56537.2022.10018792","title":"Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse","display_name":"Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W4320059739","doi":"https://doi.org/10.1109/ssrr56537.2022.10018792"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr56537.2022.10018792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5087357411","display_name":"Ananya Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ananya Rao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048150326","display_name":"Robin R. Murphy","orcid":"https://orcid.org/0000-0003-0774-4312"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robin Murphy","raw_affiliation_strings":["Texas A&#x0026;M University,College Station,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&#x0026;M University,College Station,TX,USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073562661","display_name":"David Merrick","orcid":null},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Merrick","raw_affiliation_strings":["Florida State University,Tallahassee,FL,USA","Florida State University, Tallahassee, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Florida State University,Tallahassee,FL,USA","institution_ids":["https://openalex.org/I103163165"]},{"raw_affiliation_string":"Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I103163165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087357411"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.1167,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.88445883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"379","last_page":"384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9871000051498413,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9603999853134155,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9417999982833862,"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/rubble","display_name":"Rubble","score":0.9849486351013184},{"id":"https://openalex.org/keywords/pile","display_name":"Pile","score":0.6583977341651917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5052486062049866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46773678064346313},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.46384409070014954},{"id":"https://openalex.org/keywords/void","display_name":"Void (composites)","score":0.44901323318481445},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4123198390007019},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4043121933937073},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.34956681728363037},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.33960390090942383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16624966263771057},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1533290445804596},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.09456783533096313}],"concepts":[{"id":"https://openalex.org/C2777929537","wikidata":"https://www.wikidata.org/wiki/Q1225329","display_name":"Rubble","level":2,"score":0.9849486351013184},{"id":"https://openalex.org/C119560385","wikidata":"https://www.wikidata.org/wiki/Q7193850","display_name":"Pile","level":2,"score":0.6583977341651917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5052486062049866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46773678064346313},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46384409070014954},{"id":"https://openalex.org/C2779772531","wikidata":"https://www.wikidata.org/wiki/Q19689164","display_name":"Void (composites)","level":2,"score":0.44901323318481445},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4123198390007019},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4043121933937073},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.34956681728363037},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.33960390090942383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16624966263771057},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1533290445804596},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.09456783533096313},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr56537.2022.10018792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr56537.2022.10018792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G3601012177","display_name":null,"funder_award_id":"CMMI-2140528","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1507418669","https://openalex.org/W2045471990","https://openalex.org/W2133039496","https://openalex.org/W2264132031","https://openalex.org/W2886194513","https://openalex.org/W2890907792","https://openalex.org/W2969365401","https://openalex.org/W3201370474","https://openalex.org/W4242532234","https://openalex.org/W4256431479","https://openalex.org/W4317928157"],"related_works":["https://openalex.org/W2571272808","https://openalex.org/W2084197020","https://openalex.org/W189570151","https://openalex.org/W2079089822","https://openalex.org/W2597203066","https://openalex.org/W4321103321","https://openalex.org/W55366686","https://openalex.org/W2654352709","https://openalex.org/W4388276557","https://openalex.org/W1971295396"],"abstract_inverted_index":{"The":[0,163,177],"2021":[1],"Champlain":[2],"Towers":[3],"South":[4],"Condominiums":[5],"collapse":[6,148],"in":[7,64,149,157,192,213],"Surfside,":[8],"Florida,":[9],"resulted":[10],"98":[11],"deaths.":[12],"Nine":[13],"people":[14],"are":[15],"thought":[16],"to":[17,42,45,70,72,75,102,139,151],"have":[18,25,32,55,69],"survived":[19],"the":[20,47,50,62,77,106,118,123,147,158,161,194],"initial":[21],"collapse,":[22],"and":[23,91,104,112,153,171,183,199,202],"might":[24,54],"been":[26,40,56],"rescued":[27],"if":[28,36],"rescue":[29,37],"workers":[30,38],"could":[31],"located":[33],"them.":[34],"Perhaps,":[35],"had":[39],"able":[41,74],"use":[43,127],"robots":[44,187],"search":[46,76,211],"interior":[48,78,107,159,175],"of":[49,61,79,108,117,120,128,131,146,160,168,173,185,205],"rubble":[51,81,110],"pile,":[52],"outcomes":[53],"better.":[57],"An":[58],"improved":[59],"understanding":[60],"environment":[63],"which":[65],"a":[66,80,109,114,141],"robot":[67],"would":[68,83],"operate":[71],"be":[73],"pile":[82,111],"help":[84],"roboticists":[85],"develop":[86],"better":[87,181],"suited":[88],"robotic":[89,207],"platforms":[90,208],"control":[92,184,204],"strategies.":[93],"To":[94],"this":[95,97],"end,":[96],"work":[98],"offers":[99],"an":[100],"approach":[101],"characterize":[103,154],"visualize":[105],"conduct":[113],"preliminary":[115,164],"analysis":[116,124],"occurrence":[119],"voids.":[121,176],"Specifically,":[122],"makes":[125],"opportunistic":[126],"four":[129],"days":[130],"aerial":[132],"imagery":[133],"gathered":[134],"from":[135],"responders":[136],"at":[137],"Surfside":[138],"create":[140],"3D":[142],"volumetric":[143],"aggregated":[144],"model":[145],"order":[150],"identify":[152],"void":[155],"spaces":[156],"rubble.":[162,214],"results":[165,178],"confirm":[166],"expectations":[167],"small":[169],"number":[170],"scale":[172,198],"these":[174],"can":[179],"inform":[180],"selection":[182],"existing":[186],"for":[188,210],"disaster":[189],"response,":[190],"aid":[191],"determining":[193],"design":[195],"specifications":[196],"(specifically":[197],"form":[200],"factor),":[201],"improve":[203],"future":[206],"developed":[209],"operations":[212]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
