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To deal with possible fires, collapses, and so on, in underground building space, it is a general trend to use rescue robots to replace humans. This paper proposes a dual\u2010robot system solution for search and rescue in an underground building environment. To speed up rescue and search, the two robots focus on different tasks. However, the environmental perception information and location of them are shared. The primary robot is used to quickly explore the environment in a wide range, identify objects, cross difficult obstacles, and so on. The secondary robot is responsible for grabbing, carrying items, clearing obstacles, and so on. In response to the difficulty of rescue caused by unknown scenes, the Lidar, inertial measurement unit\u00a0and multiview cameras are integrated for large\u2010scale 3D environment mapping. The depth camera detects the objects to be rescued and locate them on the map. A six\u2010degree\u2010of\u2010freedom manipulator with a two\u2010finger gripper is equipped to open doors and clear roadblocks during the rescue. To solve the problem of severe signal attenuation caused by reinforced concrete walls, corners and long\u2010distance transmission, a wireless multinode networking solution is adopted. In the case of a weak wireless signal, the primary robot uses autonomous exploration for environmental perception. Experimental results show the robots' system has high reliability in over\u2010the\u2010horizon maneuvering, teleoperation of the door opening and grasping, object searching, and environmental perception, and can be well applied to underground search and rescue.<\/jats:p>","DOI":"10.1002\/rob.22152","type":"journal-article","created":{"date-parts":[[2023,1,11]],"date-time":"2023-01-11T09:00:51Z","timestamp":1673427651000},"page":"655-683","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Development of a search and rescue robot system for the\u00a0underground building environment"],"prefix":"10.1002","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5402-396X","authenticated-orcid":false,"given":"Gongcheng","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Weidong","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Pengchao","family":"Ding","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Yueming","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Han","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Zhenquan","family":"Fan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Hua","family":"Bai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1227-4047","authenticated-orcid":false,"given":"Zhu","family":"Hongbiao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]},{"given":"Zhijiang","family":"Du","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China"}]}],"member":"311","published-online":{"date-parts":[[2023,1,11]]},"reference":[{"key":"e_1_2_10_2_1","article-title":"Yolov4: optimal speed and accuracy of object detection","volume":"2004","author":"Bochkovskiy A.","year":"2020","journal-title":"arXiv preprint arXiv"},{"issue":"11","key":"e_1_2_10_3_1","first-page":"120","article-title":"The openCV library","volume":"25","author":"Bradski G.","year":"2000","journal-title":"Dr. Dobb's Journal: Software Tools for the Professional Programmer"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.tust.2015.11.012"},{"key":"e_1_2_10_5_1","doi-asserted-by":"crossref","unstructured":"Dang T. 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