Figure 17

Screenshot of the cooperative localization system user interface overlayed on a photography of the Android phone. The interface shows the recursively estimated positions (trajectories) of three smoke divers, a smoke diving pair (magenta), and a smoke diving leader (blue), during a ∼10-min search of the R1 reactor hall and adjacent rooms. The built-up rooms/walls are not displayed but can clearly be seen in the search pattern. At the time of the screenshot, the smoke diving pair has advanced to the second floor as can be seen by the hight estimates displayed on the left side.