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Sensors 2019, 19(2), 292; https://doi.org/10.3390/s19020292

Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations

Robotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, Switzerland
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Received: 6 November 2018 / Revised: 23 December 2018 / Accepted: 9 January 2019 / Published: 12 January 2019
(This article belongs to the Section Remote Sensors)
PDF [3501 KB, uploaded 12 January 2019]

Abstract

Effective radioactive hotspot localization and detection is limited by sensor characteristics (i.e., the long acquisition time and poor angular resolution AR of a gamma camera) that significantly degrade the performance of autonomous exploration in terms of the completion time and accuracy. The goal of this research is to study effective exploration algorithms that take into account these specific sensor limitations. These exploration algorithms are adapted and implemented based on behaviour-based and multi-criteria decision making MCDM approaches on an autonomous robot. The algorithms were also tested in simulation and validated by experiments performed on a real robot. According to the results, the algorithms demonstrate the ability to mitigate the unfavourable effects of the limitations.
Keywords: autonomous exploration; sensor limitations; sensing systems; remote sensors; radioactive hotspots detection; safety autonomous exploration; sensor limitations; sensing systems; remote sensors; radioactive hotspots detection; safety
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Ardiny, H.; Witwicki, S.; Mondada, F. Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations. Sensors 2019, 19, 292.

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