Localization of Ionizing Radiation Sources by Cooperating Micro Aerial Vehicles With Pixel Detectors in Real-Time

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00341861" target="_blank" >RIV/68407700:21230/20:00341861 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2020.2978456" target="_blank" >https://doi.org/10.1109/LRA.2020.2978456</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2020.2978456" target="_blank" >10.1109/LRA.2020.2978456</a>

Result language
angličtina
Original language name
Localization of Ionizing Radiation Sources by Cooperating Micro Aerial Vehicles With Pixel Detectors in Real-Time
Original language description
We provide a complex software package allowing the user to deploy multiple ionizing radiation sources and detectors modeled after the Timepix miniature pixel detector. The software is provided to the community as open-source, and allows preliminary testing and method development even without a pixel detector or radiation sources. Our simulation model utilizes ray-tracing and Monte Carlo methods to resolve interactions of ionizing radiation with the detector, obstacles and the atmosphere. An open-source implementation is provided as a plugin for Gazebo, a simulator popular within the robotics community. The plugin is capable of simulating radiation sources with activities in the order of GBq1 in real-time with a conventional PC. We also provide a ROS interface, which allows full integration of the Timepix pixel detector into a robotic system. The credibility and the precision of the simulator plugin were confirmed via a real-world experiment with a micro aerial vehicle (MAV) equipped with a Timepix detector mapping the radiation intensity of an Am-241 sample. Finally, we present a method for cooperative localization of a source of ionizing radiation by a group of autonomous MAVs in an environment with obstacles.
Czech name
—
Czech description
—

Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

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)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)