An automated heterogeneous robotic system for radiation surveys: Design and field testing
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F21%3APU138749" target="_blank" >RIV/00216305:26620/21:PU138749 - isvavai.cz</a>
Result on the web
<a href="https://onlinelibrary.wiley.com/doi/10.1002/rob.22010" target="_blank" >https://onlinelibrary.wiley.com/doi/10.1002/rob.22010</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1002/rob.22010" target="_blank" >10.1002/rob.22010</a>
Alternative languages
Result language
angličtina
Original language name
An automated heterogeneous robotic system for radiation surveys: Design and field testing
Original language description
During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an environment. Moreover, rapid development of the technology allows us to increase the automation rate, making the human operator generally less important within the entire process. This article presents a multirobotic system designed for highly automated radiation mapping and source localization. Our approach includes a three-phase procedure comprising sequential deployment of two diverse platforms, namely, an unmanned aircraft system (UAS) and an unmanned ground vehicle (UGV), to perform aerial photogrammetry, aerial radiation mapping, and terrestrial radiation mapping. The central idea is to produce a sparse dose rate map of the entire study site via the UAS and, subsequently, to perform detailed UGV-based mapping in limited radiation-contaminated regions. To accomplish these tasks, we designed numerous methods and data processing algorithms to facilitate, for example, digital elevation model-based terrain following for the UAS, automatic selection of the regions of interest, obstacle map-based UGV trajectory planning, and source localization. The overall usability of the multirobotic system was demonstrated by means of a 1-day, authentic experiment, namely, a fictitious car accident including the loss of several radiation sources. The ability of the system to localize radiation hotspots and individual sources has been verified.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Journal of Field Robotics
ISSN
1556-4959
e-ISSN
1556-4967
Volume of the periodical
38
Issue of the periodical within the volume
5
Country of publishing house
US - UNITED STATES
Number of pages
27
Pages from-to
657-683
UT code for WoS article
000605180300001
EID of the result in the Scopus database
2-s2.0-85099063278