Detail publikace

Localizing multiple radiation sources actively with a particle filter

LÁZNA, T. ŽALUD, L.

Originální název

Localizing multiple radiation sources actively with a particle filter

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

We 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.

Klíčová slova

Radiological source search Nuclear robotics Gamma radiation Bayesian estimation Sensor-based planning

Autoři

LÁZNA, T.; ŽALUD, L.

Vydáno

1. 2. 2025

Nakladatel

Elsevier

Místo

Jižní Korea

ISSN

1738-5733

Periodikum

NUCL ENG TECHNOL

Ročník

57

Číslo

2

Stát

Korejská republika

Strany počet

7

URL

https://www.sciencedirect.com/science/article/pii/S1738573324004194

Plný text v Digitální knihovně

http://hdl.handle.net/11012/250062

BibTex

@article{BUT189987,
  author="Tomáš {Lázna} and Luděk {Žalud}",
  title="Localizing multiple radiation sources actively with a particle filter",
  journal="NUCL ENG TECHNOL",
  year="2025",
  volume="57",
  number="2",
  pages="7",
  doi="10.1016/j.net.2024.08.040",
  issn="1738-5733",
  url="https://www.sciencedirect.com/science/article/pii/S1738573324004194"
}