## 3 Research Framework of Internet of Emergency Services
### Components and Devices of Internet of Emergency Services
#### 3.2.5 Terrestrial Robots  
Terrestrial robots are becoming increasingly important in the context of emergency management and response due to their ability to operate in hazardous environments and perform tasks that are dangerous for human rescuers [7,11]. These robots are equipped with various sensors, cameras, and other tools that enable them to collect data, search for survivors, and perform search and rescue operations. Here, we present a discussion on the use of terrestrial robots for IoES (see Table 5), along with some real-world examples. One of the most significant advantages of using terrestrial robots for emergency management is their ability to operate in hazardous environments, such as buildings that have collapsed due to earthquakes, landslides, or other disasters [73]. These robots can enter the damaged structures and search for survivors, collect data, and perform various tasks that are critical for emergency response. For example, after the 2011 earthquake and tsunami in Japan, the Tokyo Fire Department deployed a number of robots to search for survivors in the debris. These robots were equipped with cameras and other sensors that enabled them to detect the presence of living beings and provide data to rescue teams. Similarly, after the 2017 earthquake in Mexico, several organizations deployed robots to search for survivors in the rubble. Another significant advantage of terrestrial robots is their ability to navigate in challenging terrain, such as forests, mountains, and other remote areas. This is especially important in situations where conventional vehicles cannot access the area due to roadblocks or other obstacles. Terrestrial robots equipped with GPS and other navigation systems can be used to collect data and provide situational awareness to emergency responders. Internet of Vehicles (IoV) can be employed to support emergency communication [92]. For example, in 2018, the Los Angeles Fire Department deployed a robotic vehicle to help fight a wildfire in California. The robot, equipped with cameras and other sensors, was used to collect data and provide situational awareness to the firefighting team. Similarly, in 2017, the National Oceanic and Atmospheric Administration (NOAA) used underwater robots to explore the damage caused by Hurricane Irma in Florida. Another example or a terrestrial robot that could be used for data collection in case of nuclear disaster is a modified Clearpath Husky with a CSIRO Navigation Pack, a Thermo Fischer RadEye G-10 personal gamma dosimeter with a laptop for communicating with the dosimeter, and a Rajant BreadCrumb ES1 communication node to increase the wireless range with the operator base station (Figure 4). The CSIRO Navigation Pack is a self-contained 2.5D localization and navigation solution for ground vehicles, which includes a sensor suite consisting of a Velodyne Puck (VLP16) LiDAR, a LORD Microstrain CV525 Attitude and Heading Reference System (AHRS), four RGB cameras with wide-angle lenses, LED lights, and computational power sources such as NVIDIA Jetson AGX Xavier and Intel NUC [93]. However, the use of terrestrial robots for emergency management and response also has some challenges and limitations. One of the main challenges is the complexity of the robots and the need for skilled operators to control them. Additionally, robots can face difficulties in navigating challenging terrain, and their performance can be affected