Autonomous localization of multiple ionizing radiation sources using miniature single-layer Compton cameras onboard a group of micro aerial vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00377180" target="_blank" >RIV/68407700:21230/24:00377180 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS58592.2024.10802808" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10802808</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS58592.2024.10802808" target="_blank" >10.1109/IROS58592.2024.10802808</a>
Alternative languages
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 Timepix3. The compact size of the detector allows for deployment onboard safe and agile small-scale 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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Classification
Type
D - Article in proceedings
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
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
ISBN
979-8-3503-7770-5
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
5710-5717
Publisher name
IEEE
Place of publication
Piscataway
Event location
Abu Dhabi
Event date
Oct 14, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001411890000581