Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-01-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/19/2/292 |
| _version_ | 1797999159982161920 |
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| author | Hadi Ardiny Stefan Witwicki Francesco Mondada |
| author_facet | Hadi Ardiny Stefan Witwicki Francesco Mondada |
| author_sort | Hadi Ardiny |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T11:00:11Z |
| format | Article |
| id | doaj.art-deaad657087549a2a71b3a20c5276321 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T11:00:11Z |
| publishDate | 2019-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-deaad657087549a2a71b3a20c52763212022-12-22T04:28:39ZengMDPI AGSensors1424-82202019-01-0119229210.3390/s19020292s19020292Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor LimitationsHadi Ardiny0Stefan Witwicki1Francesco Mondada2Robotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, SwitzerlandRobotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, SwitzerlandRobotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, CH-1015 Lausanne, SwitzerlandEffective 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.http://www.mdpi.com/1424-8220/19/2/292autonomous explorationsensor limitationssensing systemsremote sensorsradioactive hotspots detectionsafety |
| spellingShingle | Hadi Ardiny Stefan Witwicki Francesco Mondada Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations Sensors autonomous exploration sensor limitations sensing systems remote sensors radioactive hotspots detection safety |
| title | Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations |
| title_full | Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations |
| title_fullStr | Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations |
| title_full_unstemmed | Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations |
| title_short | Autonomous Exploration for Radioactive Hotspots Localization Taking Account of Sensor Limitations |
| title_sort | autonomous exploration for radioactive hotspots localization taking account of sensor limitations |
| topic | autonomous exploration sensor limitations sensing systems remote sensors radioactive hotspots detection safety |
| url | http://www.mdpi.com/1424-8220/19/2/292 |
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