Autonomous Localization of Multiple Ionizing Radiation Sources Using Miniature Single-Layer Compton Cameras Onboard a Group of Micro Aerial Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00177016%3A_____%2F24%3AN0000135" target="_blank" >RIV/00177016:_____/24:N0000135 - isvavai.cz</a>

Result on the web

<a href="https://ieeexplore.ieee.org/document/10802808" target="_blank" >https://ieeexplore.ieee.org/document/10802808</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802808" target="_blank" >10.1109/IROS58592.2024.10802808</a>

Result language

angličtina

Original language name

Autonomous Localization of Multiple Ionizing Radiation Sources Using Miniature Single-Layer Compton Cameras Onboard a Group of Micro Aerial Vehicles

Original language description

A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an extremely lightweight (44 g) Compton camera MiniPIX TPX3. The compact size of the detector allows for deployment onboard safe and agile small-scale Unmanned Aerial Vehicles (UAVs). The proposed radiation mapping approach fuses measurements from multiple distributed Compton camera sensors to accurately estimate the positions of multiple radioactive sources in real time. Unlike commonly used intensity-based detectors, the Compton camera reconstructs the set of possible directions towards a radiation source from just a single ionizing particle. Therefore, the proposed approach can localize radiation sources without having to estimate the gradient of a radiation field or contour lines, which require longer measurements. The instant estimation is able to fully exploit the potential of highly mobile MAVs. The radiation mapping method is combined with an active search strategy, which coordinates the future actions of the MAVs in order to improve the quality of the estimate of the sources’ positions, as well as to explore the area of interest faster. The proposed solution is evaluated in simulation and real-world experiments with multiple Cesium-137 radiation sources.

Czech name

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Czech description

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Type

J_ost - Miscellaneous article in a specialist periodical

CEP classification

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OECD FORD branch

10301 - Atomic, molecular and chemical physics (physics of atoms and molecules including collision, interaction with radiation, magnetic resonances, Mössbauer effect)

Project

<a href="/en/project/FW01010317" target="_blank" >FW01010317: Localization of sources of ionizing radiation using a group of small unmanned aircrafts with Compton camera detectors</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISSN

2153-0858

e-ISSN

2153-0866

Volume of the periodical

1

Issue of the periodical within the volume

1

Country of publishing house

AE - UNITED ARAB EMIRATES

Number of pages

6

Pages from-to

6

UT code for WoS article

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EID of the result in the Scopus database

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