Robot and Sensor Networks for First Responders
IEEE Pervasive Computing
Interactive humanoid robots for a science museum
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Distributed weighted-multidimensional scaling for node localization in sensor networks
ACM Transactions on Sensor Networks (TOSN)
Real-time localization and elevation mapping within urban search and rescue scenarios: Field Reports
Journal of Field Robotics
Indoor Localisation of Humans, Objects, and mobile Robots with RFID Infrastructure
HIS '07 Proceedings of the 7th International Conference on Hybrid Intelligent Systems
A Wireless Sensor Network and Incident Command Interface for Urban Firefighting
MOBIQUITOUS '07 Proceedings of the 2007 Fourth Annual International Conference on Mobile and Ubiquitous Systems: Networking&Services (MobiQuitous)
HeadSLAM - simultaneous localization and mapping with head-mounted inertial and laser range sensors
ISWC '08 Proceedings of the 2008 12th IEEE International Symposium on Wearable Computers
Location and Navigation Support for Emergency Responders: A Survey
IEEE Pervasive Computing
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In this contribution a technique for first responders localization support in emergency indoor scenarios is presented. Although localization and mapping has been largely investigated in the field of mobile robotics, it is still a big challenge in emergency response due to the demanding operating conditions. The peculiarity of the proposed system relies on the integration between human operators and robots in a hybrid team. Localization technique takes advantages both from a pre-installed set of landmarks and a self-deployable sensor network composed by tags dropped by rescuers. The main contribution of the paper is the development and the testing of a localization procedure for hybrid rescue teams, able to handle both a priori knowledge, i.e., maps of the environment, with large uncertainties and information updated during rescue tasks.