 The controller is evaluated in two Search and Rescue (SAR) inspired experiments, one with a simulated robot and test arena  and one with a real robot in a realistic environment.
<fluency>  The controller is evaluated in two Search and Rescue (SAR) inspired experiments, one with a simulated robot and test arena  and one with a real robot in a realistic environment.
 The controller is evaluated in two Search and Rescue (SAR) inspired experiments, one with a simulated robot and test arena , and one with a real robot in a realistic environment.