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The experiments took place in the top three floors of a structurally compromised building at Tohoku University in Sendai, Japan that was damaged during the 2011 Tohoku earthquake. We provide details of the approach to the collaborative mapping and report results from the experiments in the form of maps generated by the individual robots and as a team. We conclude by discussing observations from the experiments and future research topics. \u00a9 2012 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.21436","type":"journal-article","created":{"date-parts":[[2012,8,14]],"date-time":"2012-08-14T18:37:20Z","timestamp":1344969440000},"page":"832-841","source":"Crossref","is-referenced-by-count":282,"title":["Collaborative mapping of an earthquake\u2010damaged building via ground and aerial robots"],"prefix":"10.1002","volume":"29","author":[{"given":"Nathan","family":"Michael","sequence":"first","affiliation":[]},{"given":"Shaojie","family":"Shen","sequence":"additional","affiliation":[]},{"given":"Kartik","family":"Mohta","sequence":"additional","affiliation":[]},{"given":"Yash","family":"Mulgaonkar","sequence":"additional","affiliation":[]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[]},{"given":"Keiji","family":"Nagatani","sequence":"additional","affiliation":[]},{"given":"Yoshito","family":"Okada","sequence":"additional","affiliation":[]},{"given":"Seiga","family":"Kiribayashi","sequence":"additional","affiliation":[]},{"given":"Kazuki","family":"Otake","sequence":"additional","affiliation":[]},{"given":"Kazuya","family":"Yoshida","sequence":"additional","affiliation":[]},{"given":"Kazunori","family":"Ohno","sequence":"additional","affiliation":[]},{"given":"Eijiro","family":"Takeuchi","sequence":"additional","affiliation":[]},{"given":"Satoshi","family":"Tadokoro","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2012,8,14]]},"reference":[{"key":"e_1_2_7_2_1","unstructured":"Ackerman E.(2011).Japan earthquake: iRobot sending Packbots and Warriors to Fukushima Dai\u20101 nuclear plant. 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