dc.contributor.author | Mascarich, Frank | |
dc.contributor.author | De Petris, Paolo | |
dc.contributor.author | Nguyen, Dinh Huan | |
dc.contributor.author | Khedekar, Nikhil Vijay | |
dc.contributor.author | Alexis, Konstantinos | |
dc.date.accessioned | 2022-02-15T12:53:02Z | |
dc.date.available | 2022-02-15T12:53:02Z | |
dc.date.created | 2021-11-25T10:13:21Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-1-7281-9077-8 | |
dc.identifier.uri | https://hdl.handle.net/11250/2979107 | |
dc.description.abstract | This paper contributes a method designed to enable autonomous distributed 3D nuclear radiation field mapping. The algorithm uses a single radiation sensor and a sequence of spatially distributed and robotically acquired radiation measurements across a discretized 3D grid to derive a radiation gradient. The derived gradient is probabilistically propagated to unknown components of the map to further guide a curiosity-driven path planner by identifying the next most radiologically informative point given available information. To demonstrate the method, we develop a resilient micro flying robot capable of autonomous GPS-denied navigation that integrates a Thallium–doped Cesium Iodide (CsI(Tl)) scintillator and Silicon Photomultiplier (SiPm) combined with custom–built pulse counting circuitry. A set of experimental studies is presented inside an indoor facility within which actual radioactive uranium ore sources have been distributed. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.ispartof | 2021 IEEE International Conference on Robotics and Automation (ICRA) | |
dc.relation.uri | https://ieeexplore.ieee.org/document/9561922 | |
dc.title | Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.source.pagenumber | 2163-2169 | en_US |
dc.identifier.doi | 10.1109/ICRA48506.2021.9561922 | |
dc.identifier.cristin | 1958854 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |