Localizing multiple radiation sources actively with a particle filter

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F25%3APU152452" target="_blank" >RIV/00216305:26620/25:PU152452 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.sciencedirect.com/science/article/pii/S1738573324004194" target="_blank" >https://www.sciencedirect.com/science/article/pii/S1738573324004194</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.net.2024.08.040" target="_blank" >10.1016/j.net.2024.08.040</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Localizing multiple radiation sources actively with a particle filter

Popis výsledku v původním jazyce

We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest populated with static obstacles. The measurement trajectory is information-driven rather than pre-planned, and the localization exploits a regularized particle filter estimating the sources’ parameters continuously. Regarding the dynamic robot control, this switches between two modes, one attempting to minimize the Shannon entropy and the other aiming to reduce the variance of expected measurements in unexplored parts of the target area; both of the modes maintain safe clearance from the obstacles. The performance of the algorithms was tested in a simulation study based on real-world data acquired previously from three radiation sources exhibiting various activities. Our approach reduces the time necessary to explore the region and to find the sources by approximately 40 %; at present, however, the method is unable to reliably localize sources that have a relatively low intensity. In this context, additional research has been planned to increase the credibility and robustness of the procedure and to improve the robotic platform autonomy.

Název v anglickém jazyce

Localizing multiple radiation sources actively with a particle filter

Popis výsledku anglicky

We discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest populated with static obstacles. The measurement trajectory is information-driven rather than pre-planned, and the localization exploits a regularized particle filter estimating the sources’ parameters continuously. Regarding the dynamic robot control, this switches between two modes, one attempting to minimize the Shannon entropy and the other aiming to reduce the variance of expected measurements in unexplored parts of the target area; both of the modes maintain safe clearance from the obstacles. The performance of the algorithms was tested in a simulation study based on real-world data acquired previously from three radiation sources exhibiting various activities. Our approach reduces the time necessary to explore the region and to find the sources by approximately 40 %; at present, however, the method is unable to reliably localize sources that have a relatively low intensity. In this context, additional research has been planned to increase the credibility and robustness of the procedure and to improve the robotic platform autonomy.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20305 - Nuclear related engineering; (nuclear physics to be 1.3);

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2025

Kód důvěrnosti údajů

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

Název periodika

NUCL ENG TECHNOL

ISSN

1738-5733

e-ISSN

—

Svazek periodika

57

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

KR - Korejská republika

Počet stran výsledku

7

Strana od-do

„“-„“

Kód UT WoS článku

001417627000001

EID výsledku v databázi Scopus

2-s2.0-85203012068