{"id":"https://openalex.org/W4293099009","doi":"https://doi.org/10.55417/fr.2022020","title":"A Heterogeneous Unmanned Ground Vehicle and Blimp Robot Team for Search and Rescue using Data-Driven Autonomy and Communication-Aware Navigation","display_name":"A Heterogeneous Unmanned Ground Vehicle and Blimp Robot Team for Search and Rescue using Data-Driven Autonomy and Communication-Aware Navigation","publication_year":2022,"publication_date":"2022-05-01","ids":{"openalex":"https://openalex.org/W4293099009","doi":"https://doi.org/10.55417/fr.2022020"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022020","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022020","pdf_url":"https://doi.org/10.55417/fr.2022020","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.2022020","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002286021","display_name":"Chen-Lung Lu","orcid":"https://orcid.org/0000-0002-0240-3079"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chen-Lung Lu","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Yang Ming Chiao Tung University (NYCU)","National Chiao Tung University (NCTU)"],"raw_orcid":"https://orcid.org/0000-0002-0240-3079","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101589477","display_name":"Jui-Te Huang","orcid":"https://orcid.org/0000-0001-6527-5812"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jui-Te Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0001-6527-5812","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071757269","display_name":"Ching-I Huang","orcid":"https://orcid.org/0000-0002-3987-259X"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210149422","display_name":"Pervasive Artificial Intelligence Research Labs","ror":"https://ror.org/05qjw7v53","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210149422"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ching-I Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,"],"raw_orcid":"https://orcid.org/0000-0002-3987-259X","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,","institution_ids":["https://openalex.org/I148366613","https://openalex.org/I4210149422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013302972","display_name":"Zi-Yan Liu","orcid":"https://orcid.org/0000-0001-5434-2135"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Zi-Yan Liu","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0001-5434-2135","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082956495","display_name":"Chao-Chun Hsu","orcid":"https://orcid.org/0000-0002-7301-2884"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Chun Hsu","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0002-7301-2884","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068823407","display_name":"Yu-Yen Huang","orcid":"https://orcid.org/0000-0001-7433-1687"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210149422","display_name":"Pervasive Artificial Intelligence Research Labs","ror":"https://ror.org/05qjw7v53","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210149422"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Yen Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,"],"raw_orcid":"https://orcid.org/0000-0001-7433-1687","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,","institution_ids":["https://openalex.org/I148366613","https://openalex.org/I4210149422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037602550","display_name":"Siao-Cing Huang","orcid":"https://orcid.org/0000-0003-3435-4387"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Siao-Cing Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0003-3435-4387","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072497734","display_name":"Po-Kai Chang","orcid":"https://orcid.org/0000-0001-7481-4478"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Po-Kai Chang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Yang Ming Chiao Tung University (NYCU)","National Chiao Tung University (NCTU)"],"raw_orcid":"https://orcid.org/0000-0001-7481-4478","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083258885","display_name":"Zu Lin Ewe","orcid":"https://orcid.org/0000-0003-3515-9989"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Zu Lin Ewe","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0003-3515-9989","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103105532","display_name":"Po-Jui Huang","orcid":"https://orcid.org/0000-0003-0284-6934"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210149422","display_name":"Pervasive Artificial Intelligence Research Labs","ror":"https://ror.org/05qjw7v53","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210149422"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Po-Jui Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,"],"raw_orcid":"https://orcid.org/0000-0003-0284-6934","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU); National Yang Ming Chiao Tung University (NYCU); Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan.,","institution_ids":["https://openalex.org/I148366613","https://openalex.org/I4210149422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035114938","display_name":"Po-Lin Li","orcid":"https://orcid.org/0000-0002-9889-7957"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Po-Lin Li","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0002-9889-7957","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074404063","display_name":"Bo-Hui Wang","orcid":"https://orcid.org/0000-0001-6416-6286"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Bo-Hui Wang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0001-6416-6286","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006699360","display_name":"Lai-Sum Yim","orcid":"https://orcid.org/0000-0002-8062-4221"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Lai-Sum Yim","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0002-8062-4221","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042739636","display_name":"Sheng-Wei Huang","orcid":"https://orcid.org/0000-0002-0507-8224"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Sheng-Wei Huang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)"],"raw_orcid":"https://orcid.org/0000-0002-0507-8224","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064820492","display_name":"Mingsian R. Bai","orcid":"https://orcid.org/0000-0002-8866-106X"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I25846049","display_name":"National Tsing Hua University","ror":"https://ror.org/00zdnkx70","country_code":"TW","type":"education","lineage":["https://openalex.org/I25846049"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"MingSian R. Bai","raw_affiliation_strings":["National Tsing Hua University (NTHU), Taiwan","National Yang Ming Chiao Tung University (NYCU)","National Tsing Hua University (NTHU)","National Chiao Tung University (NCTU)"],"raw_orcid":"https://orcid.org/0000-0002-8866-106X","affiliations":[{"raw_affiliation_string":"National Tsing Hua University (NTHU), Taiwan","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Tsing Hua University (NTHU)","institution_ids":["https://openalex.org/I25846049"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068913253","display_name":"Hsueh\u2010Cheng Wang","orcid":"https://orcid.org/0000-0002-9419-4111"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210149422","display_name":"Pervasive Artificial Intelligence Research Labs","ror":"https://ror.org/05qjw7v53","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210149422"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsueh-Cheng Wang","raw_affiliation_strings":["National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan; Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan","National Chiao Tung University (NCTU)","National Yang Ming Chiao Tung University (NYCU)","Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-9419-4111","affiliations":[{"raw_affiliation_string":"National Chiao Tung University (NCTU), Taiwan; National Yang Ming Chiao Tung University (NYCU), Taiwan; Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Chiao Tung University (NCTU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University (NYCU)","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Pervasive Artificial Intelligence Research (PAIR) Labs, Taiwan","institution_ids":["https://openalex.org/I4210149422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":16,"corresponding_author_ids":["https://openalex.org/A5002286021"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":11.4593,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97795534,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":null,"first_page":"557","last_page":"594"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9944999814033508,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9944999814033508,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.967199981212616,"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/computer-science","display_name":"Computer science","score":0.6071787476539612},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.579755961894989},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5541608929634094},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.5362441539764404},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5094690918922424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4798664450645447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45472609996795654},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3480515480041504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34475553035736084},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3270471692085266},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2008027732372284},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.13104838132858276}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6071787476539612},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.579755961894989},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5541608929634094},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.5362441539764404},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5094690918922424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4798664450645447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45472609996795654},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3480515480041504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34475553035736084},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3270471692085266},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2008027732372284},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.13104838132858276}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2022020","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022020","pdf_url":"https://doi.org/10.55417/fr.2022020","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.2022020","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022020","pdf_url":"https://doi.org/10.55417/fr.2022020","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":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4293099009.pdf","grobid_xml":"https://content.openalex.org/works/W4293099009.grobid-xml"},"referenced_works_count":101,"referenced_works":["https://openalex.org/W115746787","https://openalex.org/W176813254","https://openalex.org/W1489890405","https://openalex.org/W1544490176","https://openalex.org/W1570757094","https://openalex.org/W1903029394","https://openalex.org/W1950970151","https://openalex.org/W1968315983","https://openalex.org/W1984538854","https://openalex.org/W1988695020","https://openalex.org/W1990101796","https://openalex.org/W2001867075","https://openalex.org/W2022020194","https://openalex.org/W2030405894","https://openalex.org/W2081805327","https://openalex.org/W2100347235","https://openalex.org/W2110764733","https://openalex.org/W2113638573","https://openalex.org/W2116438323","https://openalex.org/W2121951643","https://openalex.org/W2146881125","https://openalex.org/W2152864241","https://openalex.org/W2162717641","https://openalex.org/W2167683317","https://openalex.org/W2173248099","https://openalex.org/W2180727096","https://openalex.org/W2218120867","https://openalex.org/W2260756217","https://openalex.org/W2282026927","https://openalex.org/W2291973609","https://openalex.org/W2522340145","https://openalex.org/W2524241275","https://openalex.org/W2575705757","https://openalex.org/W2589199823","https://openalex.org/W2592873849","https://openalex.org/W2736601468","https://openalex.org/W2737347195","https://openalex.org/W2737540556","https://openalex.org/W2804992755","https://openalex.org/W2809555803","https://openalex.org/W2856792408","https://openalex.org/W2869375357","https://openalex.org/W2884565639","https://openalex.org/W2888726385","https://openalex.org/W2899725245","https://openalex.org/W2903420265","https://openalex.org/W2909908358","https://openalex.org/W2910054127","https://openalex.org/W2910767409","https://openalex.org/W2911544411","https://openalex.org/W2942608247","https://openalex.org/W2962957005","https://openalex.org/W2963129648","https://openalex.org/W2963428623","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964339842","https://openalex.org/W2965215408","https://openalex.org/W2968704747","https://openalex.org/W2969022059","https://openalex.org/W2974989938","https://openalex.org/W2981759303","https://openalex.org/W2982402514","https://openalex.org/W2993182889","https://openalex.org/W3006388420","https://openalex.org/W3009928773","https://openalex.org/W3016525976","https://openalex.org/W3031798691","https://openalex.org/W3037072169","https://openalex.org/W3039235589","https://openalex.org/W3088020640","https://openalex.org/W3089445412","https://openalex.org/W3091001089","https://openalex.org/W3097090618","https://openalex.org/W3100874234","https://openalex.org/W3101917063","https://openalex.org/W3102327032","https://openalex.org/W3107562115","https://openalex.org/W3121111736","https://openalex.org/W3127756416","https://openalex.org/W3130961129","https://openalex.org/W3131341185","https://openalex.org/W4214881827","https://openalex.org/W4287686575","https://openalex.org/W4288319858","https://openalex.org/W4288363736","https://openalex.org/W4289763054","https://openalex.org/W4293099009","https://openalex.org/W4307863552","https://openalex.org/W4308909683","https://openalex.org/W6677209053","https://openalex.org/W6682526481","https://openalex.org/W6696783566","https://openalex.org/W6735463952","https://openalex.org/W6754659260","https://openalex.org/W6755855867","https://openalex.org/W6760739867","https://openalex.org/W6761234640","https://openalex.org/W6764987909","https://openalex.org/W6817117944","https://openalex.org/W6910279426"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2891960103","https://openalex.org/W1518615326","https://openalex.org/W2920942130","https://openalex.org/W2160229054","https://openalex.org/W2807943943","https://openalex.org/W3085982270","https://openalex.org/W2991565663","https://openalex.org/W3204083048"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,62,68,71,112,126,147,224],"architecture":[4],"and":[5,15,26,43,52,85,135,152,156,177,195,204,234],"implementation":[6],"of":[7,19,37,61,70,82,111,209,226],"a":[8,35,48,138,193],"heterogeneous":[9],"team":[10],"comprising":[11],"unmanned":[12],"ground":[13,30],"vehicles":[14,31],"blimp":[16],"robots":[17],"capable":[18],"navigating":[20],"unknown":[21],"subterranean":[22,227],"environments":[23],"for":[24,39,103,132],"search":[25],"rescue":[27],"missions.":[28],"The":[29,45,59,109,141,163,202],"are":[32],"equipped":[33],"with":[34,170,174],"range":[36],"sensors":[38],"accurate":[40],"perception,":[41],"localization,":[42],"mapping.":[44],"blimps":[46],"feature":[47],"long":[49],"flight":[50],"duration":[51],"collision":[53,133],"tolerance":[54],"when":[55],"traversing":[56],"uneven":[57],"terrain.":[58],"design":[60],"system":[63,127,143,166],"was":[64,115,144,161],"meant":[65],"to":[66,99,119,128,222],"satisfy":[67],"requirements":[69],"Defense":[72],"Advanced":[73],"Research":[74],"Projects":[75],"Agency":[76],"(DARPA)":[77],"Subterranean":[78],"Challenge":[79],"in":[80,146,220],"terms":[81],"perception":[83],"capability":[84],"autonomy.":[86],"To":[87],"facilitate":[88],"navigation":[89,136,142],"through":[90],"smoke-filled":[91],"spaces,":[92],"we":[93],"employed":[94],"novel":[95],"millimeter":[96],"wave":[97],"radar":[98],"enable":[100],"cross-modal":[101],"representations":[102],"integration":[104],"via":[105],"deep":[106,121],"reinforcement":[107],"learning.":[108],"autonomy":[110],"proposed":[113,164],"scheme":[114],"augmented":[116],"using":[117,214],"simulations":[118],"train":[120],"neural":[122],"networks,":[123],"thereby":[124],"allowing":[125],"perform":[129],"sequential":[130],"decision-making":[131],"avoidance":[134],"toward":[137],"specific":[139],"goal.":[140],"evaluated":[145,213],"DARPA":[148],"SubT":[149],"Urban":[150],"Circuit,":[151],"quantitative":[153],"localization":[154],"results":[155],"recovery":[157],"strategy":[158],"from":[159],"failures":[160],"discussed.":[162],"communication":[165,180],"comprises":[167],"mesh":[168],"WiFi":[169],"XBee":[171,175],"(ZigBee":[172],"network":[173],"radios)":[176],"ultra-wideband":[178],"(UWB)":[179],"modules":[181,211],"as":[182,184,199],"well":[183],"spherical":[185],"nodes":[186],"that":[187],"can":[188],"be":[189],"shot":[190],"out":[191],"like":[192],"cannonball":[194],"miniature":[196],"cars":[197],"deployed":[198],"mobile":[200],"nodes.":[201],"propagation":[203],"radio":[205],"signal":[206],"strength":[207],"index":[208],"various":[210],"were":[212],"data":[215],"collected":[216],"during":[217],"field":[218],"tests":[219],"order":[221],"overcome":[223],"uncertainties":[225],"environments,":[228],"including":[229],"non-line-of-sight":[230],"propagation,":[231,233],"multipath":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
