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Search and rescue operations can range from small, confined spaces, such as collapsed buildings, to large area searches during missing person operations. K9 units are tasked with intervening in such emergencies and assist in the optimal way to ensure a successful outcome for the mission. They are required to operate in unknown situations were the lives of the K9 handler and the canine companion are threatened as they operate with limited situational awareness. Within the context of thedoi:10.3390/informatics9010002 fatcat:asr6t46q6vbczk646n4lhf3ipq