Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization
Frank Mascarich Paolo De Petris Huan Nguyen Nikhil Khedekar Kostas Alexis Frank Mascarich Paolo De Petris Huan Nguyen Nikhil Khedekar Kostas Alexis
This paper contributes a method designed to enable autonomous distributed 3D nuclear radiation field mapping. The algorithm uses a single radiation sensor and a sequence of spatially distributed and robotically acquired radiation measurements across a discretized 3D grid to derive a radiation gradient. The derived gradient is probabilistically propagated to unknown components of the map to further...