{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,12]],"date-time":"2025-01-12T09:10:16Z","timestamp":1736673016766,"version":"3.32.0"},"reference-count":11,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2006,5,1]],"date-time":"2006-05-01T00:00:00Z","timestamp":1146441600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2006,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In order to allow people to explore potential fire environments without risk of danger, a new fire scout mobile robot used in urban environments is introduced in this paper. It adapts itself to stair climbing by using articulated-chain-wheeled mobile style with differential wheels. The positive pressure with continuous flow of protected gas inside the body endows the robot with explosion protection capability. When the wireless control signal is interrupted, it could automatically return to safe place along previous path based on sensorial data. Since position estimation only using encoders reading has serious limitations as mobile robot movement proceeds, a novel method integrating data of encoders and ultrasonic sensors is built, which uses iterative closest point algorithm to do data matching so as to adjust position and orientation of the mobile robot. This path retracing method realizes high accuracy and fast speed of automatic returning when the mobile robot is working in static urban environment even if the environment is unknown.<\/jats:p>","DOI":"10.1017\/s0263574706003146","type":"journal-article","created":{"date-parts":[[2006,12,11]],"date-time":"2006-12-11T12:45:54Z","timestamp":1165841154000},"page":"351-358","source":"Crossref","is-referenced-by-count":3,"title":["A fire scout robot with accurate returning for urban environment"],"prefix":"10.1017","volume":"25","author":[{"given":"Jun","family":"Qian","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Jun Zeng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ru-Qing","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin-Hua","family":"Weng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2006,5,1]]},"reference":[{"key":"S0263574706003146_N1029A","first-page":"13","article-title":"Pressurization: Type of protection pressurized apparatus \u201cp\u201d\u2014a practicable solution for explosion protection for more complex electrical equipment","volume":"27","author":"Hahn","year":"2001","journal-title":"Ex Mag."},{"key":"S0263574706003146_N1023A","doi-asserted-by":"crossref","unstructured":"8. Bonci A. , Ippoliti G. , \u201cMethods and algorithms for sensor data fusion aimed at improving the autonomy of a mobile robot,\u201d Springer Tracts Adv. Robot. 2004 pp.191\u2013222.","DOI":"10.1007\/978-3-540-44410-7_9"},{"key":"S0263574706003146_N1020F","doi-asserted-by":"crossref","unstructured":"7. Newman P. , Leonard J. , Tardos J. D. and Neira J. , \u201cExplore and return: Experimental validation of real-time concurrent mapping and localization,\u201d Proceedings of the 2002 IEEE International Conference on Robotics and Automation 2002 pp. 1802\u20131809.","DOI":"10.1109\/ROBOT.2002.1014803"},{"key":"S0263574706003146_N101E5","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20048"},{"key":"S0263574706003146_N101BA","doi-asserted-by":"crossref","unstructured":"5. Suksakulchai S. , Thongchai S. , Wilkes D. M. and Kawamura K. , \u201cMobile Robot Localization Using an Electronic Compass for Corridor Environment,\u201d Proceedings of the IEEE International Conference on Systems, Man and Cybernetcs. 2000 pp. 3354\u20133359.","DOI":"10.1109\/ICSMC.2000.886523"},{"key":"S0263574706003146_N1025A","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"S0263574706003146_N10284","unstructured":"10. Bailey T. , \u201cMobile robot localisation and mapping in extensive outdoor environments,\u201d Ph.D. Thesis (Sydney, Australia: University of Sydney, August 2002)."},{"key":"S0263574706003146_N10131","doi-asserted-by":"crossref","unstructured":"2. Helmick D. M. , Roumeliotis S. I. , McHenry M. C. and Matthies L. , \u201cMulti-Sensor, High Speed Autonomous Stair Climbing,\u201d Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems 2002 pp. 733\u2013742.","DOI":"10.1109\/IRDS.2002.1041478"},{"key":"S0263574706003146_N1010E","doi-asserted-by":"publisher","DOI":"10.1163\/156855302320535953"},{"key":"S0263574706003146_N1015C","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00241-5"},{"key":"S0263574706003146_N10190","doi-asserted-by":"publisher","DOI":"10.1109\/70.544770"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574706003146","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,12]],"date-time":"2025-01-12T08:50:50Z","timestamp":1736671850000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574706003146\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,5]]},"references-count":11,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2006,5]]}},"alternative-id":["S0263574706003146"],"URL":"https:\/\/doi.org\/10.1017\/s0263574706003146","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2006,5]]}}}