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...
