Localizing multiple radiation sources actively with a particle filter

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dc.contributor.authorLázna, Tomášcs
dc.contributor.authorŽalud, Luděkcs
dc.coverage.issue2cs
dc.coverage.volume57cs
dc.date.accessioned2025-02-27T17:24:10Z
dc.date.available2025-02-27T17:24:10Z
dc.date.issued2025-02-01cs
dc.description.abstractWe discuss the localization of radiation sources whose number and other relevant parameters are not known in advance. The data collection is ensured by an autonomous mobile robot that performs a survey in a defined region of interest populated with static obstacles. The measurement trajectory is information-driven rather than pre-planned, and the localization exploits a regularized particle filter estimating the sources’ parameters continuously. Regarding the dynamic robot control, this switches between two modes, one attempting to minimize the Shannon entropy and the other aiming to reduce the variance of expected measurements in unexplored parts of the target area; both of the modes maintain safe clearance from the obstacles. The performance of the algorithms was tested in a simulation study based on real-world data acquired previously from three radiation sources exhibiting various activities. Our approach reduces the time necessary to explore the region and to find the sources by approximately 40 %; at present, however, the method is unable to reliably localize sources that have a relatively low intensity. In this context, additional research has been planned to increase the credibility and robustness of the procedure and to improve the robotic platform autonomy.en
dc.formattextcs
dc.format.extent7cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationNUCL ENG TECHNOL. 2025, vol. 57, issue 2, 7 p.en
dc.identifier.doi10.1016/j.net.2024.08.040cs
dc.identifier.issn1738-5733cs
dc.identifier.orcid0000-0001-5437-4014cs
dc.identifier.orcid0000-0003-2993-7772cs
dc.identifier.other189987cs
dc.identifier.researcheridA-7047-2012cs
dc.identifier.scopus8439091900cs
dc.identifier.urihttps://hdl.handle.net/11012/250062
dc.language.isoencs
dc.publisherElseviercs
dc.relation.ispartofNUCL ENG TECHNOLcs
dc.relation.urihttps://www.sciencedirect.com/science/article/pii/S1738573324004194cs
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 4.0 Internationalcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/1738-5733/cs
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/cs
dc.subjectRadiological source search Nuclear robotics Gamma radiation Bayesian estimation Sensor-based planningen
dc.titleLocalizing multiple radiation sources actively with a particle filteren
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
sync.item.dbidVAV-189987en
sync.item.dbtypeVAVen
sync.item.insts2025.02.27 18:24:10en
sync.item.modts2025.02.24 12:32:06en
thesis.grantorVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií. Ústav automatizace a měřicí technikycs
thesis.grantorVysoké učení technické v Brně. Středoevropský technologický institut VUT. Kybernetika a robotikacs
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