{"paper":{"title":"Situation Aware Frontier Prioritization for Quadruped Search and Rescue","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Barbara Flores, Hiago Sodre, Igor Nunes, Kevin Farias, Pablo Moraes, Ricardo B. Grando, Santiago Martin, Vinicio Melgar","submitted_at":"2026-08-03T17:48:16Z","abstract_excerpt":"Quadruped robots are a promising platform for search and rescue missions because they can navigate cluttered indoor environments that may be restrictive for wheeled systems. However, in unknown rescue scenarios, autonomous exploration must balance map expansion with the likelihood of finding victims, which is not explicitly addressed by clas- sical frontier selection strategies. This paper presents a situation aware frontier prioritization method for single robot quadruped search and rescue. The proposed approach preserves the frontier exploration framework, but extends frontier ranking with i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.02571","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.02571/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}