Yun, Sangseok Jun, Bongjin Kim, Daijin Kim, Jaewoong Lee, Sukhan Choi, Mun-Taek Kim, Munsang Park, Joong-Tae Song, Jae-Bok 2024-01-20T14:31:46Z 2024-01-20T14:31:46Z 2021-09-05 2012-07 0921-0296 https://pubs.kist.re.kr/handle/201004/129099 This paper describes a scheme for proactive human search for a designated person in an undiscovered indoor environment without human operation or intervention. In designing and developing human identification with prior information a new approach that is robust to illumination and distance variations in the indoor environment is proposed. In addition, a substantial exploration method with an octree structure, suitable for path planning in an office configuration, is employed. All these functionalities are integrated in a message- and component-based architecture for the efficient integration and control of the system. This approach is demonstrated by succeeding human search in the challenging robot mission of the 2009 Robot Grand Challenge Contest. English SPRINGER CLASSIFICATION Proactive Human Search for the Designated Person with Prior Context Information in an Undiscovered Environments Article 10.1007/s10846-011-9641-x 1 JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.67, no.2, pp.79 - 99 JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 67 2 79 99 scie scopus 000306288700002 2-s2.0-84865256121 Computer Science, Artificial Intelligence Robotics Computer Science Robotics Review CLASSIFICATION Proactive human search CIROS Intelligent robot software architecture (IRSA) Robot grand challenge