@article{Lee2023,
  title     = {Multi-level indoor path planning and clearance-based path optimization for search and rescue operations},
  author    = {Jihoon Lee and Heein Park and Youdan Kim and Chan Gook Park and Jae Hong Lee},
  year      = {2023},
  journal   = {IEEE Access},
  volume    = {11},
  pages     = {40930-40943},
  doi       = {10.1109/ACCESS.2023.3269981},
}