A Comparison Particle Filter for Searching a Radiation Source in Real and Simulated World

Simple item page
but.event.date25.04.2023cs
but.event.titleSTUDENT EEICT 2023cs
dc.contributor.authorCihlar, Milos
dc.contributor.authorLazna, Tomas
dc.contributor.authorZalud, Ludek
dc.date.accessioned2023-07-17T05:57:36Z
dc.date.available2023-07-17T05:57:36Z
dc.date.issued2023cs
dc.description.abstractIn this paper, we are focusing on comparing solutionsfor localizing an unknown radiation source in both aGazebo simulator and the real world. A proper simulation ofthe environment, sensors, and radiation source can significantlyreduce the development time of robotic algorithms. We proposeda simple sampling importance resampling (SIR) particle filter.To verify its effectiveness and similarities, we first tested thealgorithm’s performance in the real world and then in the Gazebosimulator. In experiment, we used a 2-inch NaI(Tl) radiationdetector and radiation source Cesium 137 with an activity of 330Mbq. We compared the algorithm process using the evolution ofinformation entropy, variance, and Kullback-Leibler divergence.The proposed metrics demonstrated the similarity between thesimulator and the real world, providing valuable insights toimprove and facilitate further development of radiation searchand mapping algorithms.en
dc.formattextcs
dc.format.extent258-263cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationProceedings II of the 29st Conference STUDENT EEICT 2023: Selected papers. s. 258-263. ISBN 978-80-214-6154-3cs
dc.identifier.doi10.13164/eeict.2023.258
dc.identifier.isbn978-80-214-6154-3
dc.identifier.issn2788-1334
dc.identifier.urihttp://hdl.handle.net/11012/210702
dc.language.isoencs
dc.publisherVysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologiícs
dc.relation.ispartofProceedings II of the 29st Conference STUDENT EEICT 2023: Selected papersen
dc.relation.urihttps://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2023_sbornik_2_v2.pdfcs
dc.rights© Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologiícs
dc.rights.accessopenAccessen
dc.subjectParticle filteren
dc.subjectParticle filter comparisonen
dc.subjectSimulationof radioactivityen
dc.subjectKullback-Leibler divergenceen
dc.subjectInformationentropyen
dc.subjectAutonomous radiation searchen
dc.titleA Comparison Particle Filter for Searching a Radiation Source in Real and Simulated Worlden
dc.type.driverconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.departmentFakulta elektrotechniky a komunikačních technologiícs
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
258_EEICT_selected.pdf
Size:
5.08 MB
Format:
Adobe Portable Document Format
Description:
Download
Collections
Student EEICT 2023: Selected Papers