RT Journal Article
T1 Real-Time FTM-based Victim Positioning System Using Heterogeneous Robots in Remote and Outdoor Scenarios.
A1 Bravo-Arrabal, Juan
A1 Álvarez-Merino, Carlos Simón
A1 Toscano-Moreno, Manuel
A1 Serón-Barba, Javier
A1 Fernández-Lozano, Juan Jesús
A1 Gómez-Ruiz, José Antonio
A1 Khatib, Emil Jatib
A1 Barco-Moreno, Raquel
A1 García-Cerezo, Alfonso José
K1 Robótica
K1 Robots autónomos
K1 Operaciones de búsqueda y rescate
K1 Redes de sensores inalámbricas
K1 Vehículos teledirigidos
K1 Informática en la nube
AB Accurate victim localization in Remote, Outdoor, Unstructured, and Disaster (ROUD) scenarios remains a significant challenge due to limited infrastructure, complex terrains, and time constraints inherent in Search and Rescue (SAR) operations. This article introduces an innovative real-time positioning system that leverages Fine Time Measurement (FTM), a feature of the IEEE 802.11mc amendment, to detect WiFi-enabled devices typically carried by potential victims. The system integrates a Hybrid Wireless Sensor Network (H-WSN) composed of static and mobile anchors mounted on Uncrewed Ground and Aerial Vehicles (UGVs and UAVs), within a Robot Operating System (ROS)-based architecture. A centralized Feedback Information System (FIS) processes real-time RTT data from the field, executes a multilateration algorithm, and provides live geolocation updates to SAR coordinators. The system was validated during a large-scale SAR drill, successfully locating two types of victims—a semi-hidden surface victim and a buried victim—within a 2000m2 area in under 7 minutes, without any filtering or post-processing. The maximum positioning error was 22.87m for the buried victim and 17.14m for the surface one. The complete system, including source code, dataset, and a containerized environment, is openly available to support reproducibility and further research, highlighting the potential of robotic and wireless technologies to enhance disaster response through accurate, real-time localization in complex environments.
PB IEEE
YR 2025
FD 2025-05-14
LK https://hdl.handle.net/10630/39238
UL https://hdl.handle.net/10630/39238
LA eng
NO Bravo-Arrabal, J., Álvarez-Merino, C. S., Toscano-Moreno, M., Serón-Barba, J., Fernandez-Lozano, J. J., Gómez-Ruiz, J. A., ... & Garcia-Cerezo, A. (2025). Real-Time FTM-based Victim Positioning System Using Heterogeneous Robots in Remote and Outdoor Scenarios. IEEE Access.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026