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Analysis of institutional authors

Cruz Ulloa, ChristyanCorresponding AuthorDel Cerro JAuthorBarrientos ACorresponding Author

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August 14, 2023
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Mixed-reality for quadruped-robotic guidance in SAR tasks

Publicated to: Journal of Machinery Manufacture and Reliability. 10 (4): 1479-1489 - 2023-07-04 10(4), DOI: 10.1093/jcde/qwad061

Authors:

Ulloa, CC; del Cerro, J; Barrientos, A
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Affiliations

Univ Politecn Madrid Consejo Super Invest Cient, Ctr Automat & Robot UPM CSIC, Madrid 28006, Spain - Author
Universidad Politécnica de Madrid - Author

Abstract

In recent years, exploration tasks in disaster environments, victim localization and primary assistance have been the main focuses of Search and Rescue (SAR) Robotics. Developing new technologies in Mixed Reality (M-R) and legged robotics has taken a big step in developing robust field applications in the Robotics field. This article presents MR-RAS (Mixed-Reality for Robotic Assistance), which aims to assist rescuers and protect their integrity when exploring post-disaster areas (against collapse, electrical, and toxic risks) by facilitating the robot’s gesture guidance and allowing them to manage interest visual information of the environment. Thus, ARTU-R (A1 Rescue Tasks UPM Robot) quadruped robot has been equipped with a sensory system (lidar, thermal, and RGB-D cameras) to validate this proof of concept. On the other hand, Human-Robot interaction is executed by using the Hololens glasses. This work’s main contribution is the implementation and evaluation of a Mixed-Reality system based on a ROS-Unity solution, capable of managing at a high level the guidance of a complex legged robot through different interest zones (defined by a Neural Network and a vision system) of a post-disaster environment (PDE). The robot’s main tasks at each point visited involve detecting victims through thermal, RGB imaging, and neural networks and assisting victims with medical equipment. Tests have been carried out in scenarios that recreate the conditions of PDE (debris, simulation of victims, etc.). An average efficiency improvement of 48% has been obtained when using the immersive interface and a time optimization of 21.4% compared to conventional interfaces. The proposed method has proven to improve rescuers’ immersive experience of controlling a complex robotic system.
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Keywords

hololensmixed realityplatformquadruped robotsearch and rescueHololensMixed realityQuadruped robotRescueRobotics visionSearchUrban search

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Journal of Machinery Manufacture and Reliability due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2023, it was in position 21/181, thus managing to position itself as a Q1 (Primer Cuartil), in the category Engineering, Multidisciplinary.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 3.09. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 13, 2025)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Weighted Average of Normalized Impact by the Scopus agency: 3.81 (source consulted: FECYT Mar 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2026-04-27, the following number of citations:

  • WoS: 18
  • Scopus: 24
  • Google Scholar: 9
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Impact and social visibility

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/92639/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 47
  • Downloads: 37
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Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Ulloa CC) and Last Author (BARRIENTOS CRUZ, ANTONIO).

the authors responsible for correspondence tasks have been CRUZ ULLOA, CHRISTYAN, Ulloa CC and BARRIENTOS CRUZ, ANTONIO.

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