Uploaded November 2020 | Updated September 2026, 3 weeks ago
In this work, a new method for autonomous distributed 3D nuclear radiation field mapping was proposed and experimentally verified based on a custom-designed resilient micro flyer. The algorithm uses sequentially-acquired radiation readings to reconstruct an accurate estimate of the radiation field. To achieve this goal it estimates the field mean and gradient, while it further allows automatic guidance of a robot in order to iteratively acquire informative scintillator readings. A set of experiments is presented and serves to verify the quality of the estimated map and the benefits of curiosity-driven path planning in time-constrained missions.
In this work, a new method for autonomous distributed 3D nuclear radiation field mapping was proposed and experimentally verified based on a custom-designed resilient micro flyer. The algorithm uses sequentially-acquired radiation readings to reconstruct an accurate estimate of the radiation field. To achieve this goal it estimates the field mean and gradient, while it further allows automatic guidance of a robot in order to iteratively acquire informative scintillator readings. A set of experiments is presented and serves to verify the quality of the estimated map and the benefits of curiosity-driven path planning in time-constrained missions.
