{"id":"https://openalex.org/W2997399253","doi":"https://doi.org/10.3390/s20010235","title":"An Efficient Rescue System with Online Multi-Agent SLAM Framework","display_name":"An Efficient Rescue System with Online Multi-Agent SLAM Framework","publication_year":2019,"publication_date":"2019-12-31","ids":{"openalex":"https://openalex.org/W2997399253","doi":"https://doi.org/10.3390/s20010235","mag":"2997399253","pmid":"https://pubmed.ncbi.nlm.nih.gov/31906153"},"language":"en","primary_location":{"id":"doi:10.3390/s20010235","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010235","pdf_url":"https://www.mdpi.com/1424-8220/20/1/235/pdf?version=1578308841","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/1/235/pdf?version=1578308841","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100410171","display_name":"SeungHwan Lee","orcid":"https://orcid.org/0000-0002-1713-9194"},"institutions":[{"id":"https://openalex.org/I113409471","display_name":"Kumoh National Institute of Technology","ror":"https://ror.org/05dkjfz60","country_code":"KR","type":"education","lineage":["https://openalex.org/I113409471"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"SeungHwan Lee","raw_affiliation_strings":["Department of Electronic Engineering, Kumoh National Institute of Technology, Gumi, Gyeongbuk 39177, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Kumoh National Institute of Technology, Gumi, Gyeongbuk 39177, Korea","institution_ids":["https://openalex.org/I113409471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002382496","display_name":"Hanjun Kim","orcid":"https://orcid.org/0000-0002-7371-7366"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"HanJun Kim","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Department of Electrical and Computer Engineering, Seoul National University, Seoul 08826, Korea"],"raw_orcid":"https://orcid.org/0000-0002-7371-7366","affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Department of Electrical and Computer Engineering, Seoul National University, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103174678","display_name":"Beom-Hee Lee","orcid":"https://orcid.org/0000-0001-9264-8952"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"BeomHee Lee","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Department of Electrical and Computer Engineering, Seoul National University, Seoul 08826, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Department of Electrical and Computer Engineering, Seoul National University, Seoul 08826, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100410171"],"corresponding_institution_ids":["https://openalex.org/I113409471"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":23.8954,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98991314,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"20","issue":"1","first_page":"235","last_page":"235"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9980000257492065,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.8600794076919556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6794574856758118},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6710513234138489},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6038816571235657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5910459160804749},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5397089719772339},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.5205405950546265},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5198448300361633},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5169014930725098},{"id":"https://openalex.org/keywords/urban-search-and-rescue","display_name":"Urban search and rescue","score":0.4710683226585388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1879676878452301},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1679302155971527}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.8600794076919556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6794574856758118},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6710513234138489},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6038816571235657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5910459160804749},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5397089719772339},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.5205405950546265},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5198448300361633},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5169014930725098},{"id":"https://openalex.org/C2777811059","wikidata":"https://www.wikidata.org/wiki/Q1253257","display_name":"Urban search and rescue","level":4,"score":0.4710683226585388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1879676878452301},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1679302155971527},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20010235","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010235","pdf_url":"https://www.mdpi.com/1424-8220/20/1/235/pdf?version=1578308841","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:31906153","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31906153","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:d936950f48eb40898f6378c2de6a407b","is_oa":true,"landing_page_url":"https://doaj.org/article/d936950f48eb40898f6378c2de6a407b","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 1, p 235 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/1/235/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20010235","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:6983087","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6983087","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/196048","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/196048","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.3390/s20010235","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20010235","pdf_url":"https://www.mdpi.com/1424-8220/20/1/235/pdf?version=1578308841","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5885521410","display_name":null,"funder_award_id":"MPSS-fire safety-2015-69","funder_id":"https://openalex.org/F4320329637","funder_display_name":"National Fire Agency"}],"funders":[{"id":"https://openalex.org/F4320327526","display_name":"Ministry of Public Safety and Security","ror":null},{"id":"https://openalex.org/F4320329637","display_name":"National Fire Agency","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2997399253.pdf","grobid_xml":"https://content.openalex.org/works/W2997399253.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1882751422","https://openalex.org/W2007291635","https://openalex.org/W2029724021","https://openalex.org/W2057773025","https://openalex.org/W2059863434","https://openalex.org/W2085261163","https://openalex.org/W2092371500","https://openalex.org/W2130422193","https://openalex.org/W2161531836","https://openalex.org/W2312352258","https://openalex.org/W2341071860","https://openalex.org/W2402855441","https://openalex.org/W2475007749","https://openalex.org/W2520853980","https://openalex.org/W2534276235","https://openalex.org/W2597087713","https://openalex.org/W2725429806","https://openalex.org/W2888880178","https://openalex.org/W2900505272","https://openalex.org/W6679318581","https://openalex.org/W6817117944","https://openalex.org/W6996499299"],"related_works":["https://openalex.org/W3174027453","https://openalex.org/W2117893626","https://openalex.org/W2065470608","https://openalex.org/W1488897159","https://openalex.org/W1979426194","https://openalex.org/W341083634","https://openalex.org/W2991246638","https://openalex.org/W257921636","https://openalex.org/W1915628803","https://openalex.org/W2997399253"],"abstract_inverted_index":{"A":[0],"novel":[1],"and":[2,12,57,64,117,138,141],"an":[3,142],"efficient":[4],"rescue":[5,21],"system":[6,140],"with":[7],"a":[8,29,48,55,84,136,149],"multi-agent":[9],"simultaneous":[10],"localization":[11],"mapping":[13],"(SLAM)":[14],"framework":[15],"is":[16,43,62,72,104],"proposed":[17],"to":[18,45,94,106,120,194],"reduce":[19],"the":[20,25,35,52,65,77,108,112,118,125,129,132,158,168,172,188],"time":[22],"while":[23],"rescuing":[24],"people":[26],"trapped":[27],"inside":[28],"burning":[30],"building.":[31],"In":[32,131],"this":[33],"study,":[34],"truncated":[36],"signed":[37],"distance":[38],"(TSD)":[39],"based":[40],"SLAM":[41],"algorithm":[42],"employed":[44,74],"accurately":[46,163],"construct":[47],"two-dimensional":[49],"map":[50,86,101,123,159,174,185,191],"of":[51,76,110],"surroundings.":[53],"For":[54,99],"new":[56],"significantly":[58],"different":[59],"scenario,":[60],"information":[61],"gathered":[63],"general":[66],"iterative":[67],"closest":[68],"point":[69],"method":[70],"(GICP)":[71],"directly":[73],"instead":[75],"conventional":[78,169],"TSD-SLAM":[79],"process.":[80],"Rescuers":[81],"can":[82],"utilize":[83],"total":[85],"created":[87],"by":[88,179],"merging":[89],"individual":[90,113],"maps,":[91],"allowing":[92],"them":[93],"efficiently":[95],"search":[96,195],"for":[97,152,183,196],"victims.":[98],"online":[100,184],"merging,":[102],"it":[103],"essential":[105],"determine":[107],"timing":[109],"when":[111],"maps":[114],"are":[115],"merged":[116,173,190],"extent":[119],"which":[121],"one":[122],"reflects":[124],"other":[126],"map,":[127],"via":[128],"weights.":[130],"several":[133],"experiments":[134],"conducted,":[135],"light-detection":[137],"ranging":[139],"inertial":[143],"measurement":[144],"unit":[145],"were":[146],"integrated":[147],"into":[148],"smart":[150],"helmet":[151],"rescuers.":[153],"The":[154],"results":[155],"indicated":[156],"that":[157,165],"was":[160,175],"built":[161,176],"more":[162,177],"than":[164],"obtained":[166],"using":[167],"TSD-SLAM.":[170],"Additionally,":[171],"correctly":[178],"determining":[180],"proper":[181],"parameters":[182],"merging.":[186],"Consequently,":[187],"accurate":[189],"allows":[192],"rescuers":[193],"victims":[197],"efficiently.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
