{"id":"https://openalex.org/W3179564294","doi":"https://doi.org/10.55417/fr.2021007","title":"Design and Deployment of an Autonomous Unmanned Ground Vehicle for Urban Firefighting Scenarios","display_name":"Design and Deployment of an Autonomous Unmanned Ground Vehicle for Urban Firefighting Scenarios","publication_year":2021,"publication_date":"2021-10-01","ids":{"openalex":"https://openalex.org/W3179564294","doi":"https://doi.org/10.55417/fr.2021007","mag":"3179564294"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2021007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2021007","pdf_url":"https://doi.org/10.55417/fr.2021007","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2021007","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060453350","display_name":"Kshitij Jindal","orcid":"https://orcid.org/0000-0001-5408-3612"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kshitij Jindal","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007192173","display_name":"Anthony Wang","orcid":"https://orcid.org/0000-0002-9509-6257"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058231446","display_name":"Dinesh Thakur","orcid":"https://orcid.org/0000-0001-5046-8160"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Thakur","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014288459","display_name":"Alex Zhou","orcid":"https://orcid.org/0000-0001-9136-4691"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Zhou","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010834920","display_name":"Vojt\u011bch Spurn\u00fd","orcid":"https://orcid.org/0000-0002-9019-1634"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojtech Spurny","raw_affiliation_strings":["Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074021830","display_name":"Viktor Walter","orcid":"https://orcid.org/0000-0001-8693-6261"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Viktor Walter","raw_affiliation_strings":["Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056998513","display_name":"George Broughton","orcid":"https://orcid.org/0000-0003-0071-5834"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"George Broughton","raw_affiliation_strings":["Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tomas Krajnik","raw_affiliation_strings":["Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, CTU in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA; Department of Electrical and Computer Engineering, New York University, New York, New York, USA","Department of Electrical and Computer Engineering, New York University, New York, New York, USA","Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA; Department of Electrical and Computer Engineering, New York University, New York, New York, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New York University, New York, New York, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, New York, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5077485450"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":1.0186,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74650429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12597","display_name":"Fire Detection and Safety Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T12597","display_name":"Fire Detection and Safety Systems","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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":0.9965000152587891,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9883000254631042,"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/software-deployment","display_name":"Software deployment","score":0.8956940770149231},{"id":"https://openalex.org/keywords/firefighting","display_name":"Firefighting","score":0.8791682720184326},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6658662557601929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5638946890830994},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.5611615180969238},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5560824871063232},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.4276399314403534},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4163592755794525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41616255044937134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3687867820262909},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.358470618724823},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.35288292169570923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3179519772529602}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8956940770149231},{"id":"https://openalex.org/C557531904","wikidata":"https://www.wikidata.org/wiki/Q897825","display_name":"Firefighting","level":2,"score":0.8791682720184326},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6658662557601929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5638946890830994},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.5611615180969238},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5560824871063232},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.4276399314403534},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4163592755794525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41616255044937134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3687867820262909},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.358470618724823},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.35288292169570923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3179519772529602},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2021007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2021007","pdf_url":"https://doi.org/10.55417/fr.2021007","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.55417/fr.2021007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2021007","pdf_url":"https://doi.org/10.55417/fr.2021007","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309370","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10"},{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"},{"id":"https://openalex.org/F4320319918","display_name":"York University","ror":"https://ror.org/05fq50484"},{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3179564294.pdf","grobid_xml":"https://content.openalex.org/works/W3179564294.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1489217013","https://openalex.org/W1580721220","https://openalex.org/W2006234381","https://openalex.org/W2038327138","https://openalex.org/W2068127265","https://openalex.org/W2126819134","https://openalex.org/W2141664020","https://openalex.org/W2296228853","https://openalex.org/W2353511165","https://openalex.org/W2410933284","https://openalex.org/W2580991611","https://openalex.org/W2735388677","https://openalex.org/W2742315284","https://openalex.org/W2787772841","https://openalex.org/W2793692746","https://openalex.org/W2808575231","https://openalex.org/W2808617531","https://openalex.org/W2809866957","https://openalex.org/W2841519794","https://openalex.org/W2901136733","https://openalex.org/W2909908358","https://openalex.org/W2939504559","https://openalex.org/W2946764578","https://openalex.org/W2965338937","https://openalex.org/W3004418007","https://openalex.org/W3006019579","https://openalex.org/W3011939279","https://openalex.org/W3025979333","https://openalex.org/W3100081981","https://openalex.org/W3129351128","https://openalex.org/W4251943902","https://openalex.org/W6756486208","https://openalex.org/W7047932038"],"related_works":["https://openalex.org/W2128936008","https://openalex.org/W2078594467","https://openalex.org/W4378834463","https://openalex.org/W4383700753","https://openalex.org/W2060834565","https://openalex.org/W2694713135","https://openalex.org/W2727571846","https://openalex.org/W3110867202","https://openalex.org/W1809340257","https://openalex.org/W39496376"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robots":[2],"have":[3],"the":[4,24,99,120,144,148,154,165,176,182],"potential":[5],"to":[6,82,101,142],"execute":[7],"missions":[8],"that":[9],"are":[10],"either":[11],"too":[12,15],"complex":[13],"or":[14],"dangerous":[16],"for":[17,38,48,66,73,85,129],"humans.":[18],"In":[19],"this":[20],"paper,":[21],"we":[22,97],"address":[23],"design":[25],"and":[26,45,55,69,103,117,162],"deployment":[27],"of":[28,168],"an":[29],"autonomous":[30,49,67],"ground":[31],"vehicle":[32],"equipped":[33],"with":[34],"a":[35,105,110,135],"robotic":[36],"arm":[37],"urban":[39,59],"firefighting":[40],"scenarios.":[41,60],"We":[42],"describe":[43],"hardware":[44],"algorithm":[46],"designs":[47],"navigation,":[50],"planning,":[51],"fire":[52,86,107],"source":[53,74,108],"identification":[54],"abatement":[56],"in":[57,109,147],"unstructured":[58],"Our":[61,138],"approach":[62,90,139],"employs":[63],"on-board":[64],"sensors":[65],"navigation":[68],"thermal":[70],"camera":[71],"information":[72],"identification.":[75],"A":[76],"custom":[77],"electro-mechanical":[78],"pump":[79],"is":[80,91],"responsible":[81],"eject":[83],"water":[84],"abatement.":[87],"The":[88,112],"proposed":[89],"validated":[92],"through":[93],"several":[94],"experiments,":[95],"where":[96],"show":[98],"ability":[100],"identify":[102],"abate":[104],"simulated":[106],"building.":[111],"whole":[113],"system":[114],"was":[115,140],"developed":[116],"deployed":[118],"during":[119],"Mohamed":[121],"Bin":[122],"Zayed":[123],"International":[124],"Robotics":[125],"Challenge":[126,130,155],"(MBZIRC)":[127],"2020,":[128],"3":[131,156],"-Fire":[132],"Fighting":[133],"Inside":[134],"High-Rise":[136],"Building.":[137],"instrumental":[141],"win":[143],"first":[145],"place":[146],"MBZIRC":[149],"Grand":[150],"Challenge,":[151],"which":[152],"included":[153],"as":[157],"one":[158,179],"its":[159],"three":[160],"tasks":[161],"it":[163],"scored":[164],"highest":[166],"number":[167],"points":[169],"among":[170,180],"all":[171,181],"UGV":[172],"solutions,":[173],"while":[174],"being":[175],"most":[177],"compact":[178],"teams.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-24T08:02:53.985720","created_date":"2025-10-10T00:00:00"}