Agile Path Planning for Radiation Source Searching with Aerial Drones

Quan Zhou; Caleb J. Redding; Hairong Qi; Jason Hayward

doi:10.1109/NSS/MIC44867.2021.9875822

Agile Path Planning for Radiation Source Searching with Aerial Drones

Quan Zhou, Caleb J. Redding, Hairong Qi, Jason Hayward

Incident Modeling and Computational Scie

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Small unmanned aerial vehicles may allow for rapid radioactive source clearing in an indoor GPS-denied environment. Here we summarize our work on agile path planning to effectively search for and detect radioactive sources in such an environment. Our proposed path planner may potentially find a shorter, more optimal, and collision free route when compared to the path planned without radiation count data. Our algorithms are implemented and demonstrated within the ROS Gazebo simulation environment.

Original language	English
Title of host publication	2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022
Editors	Hideki Tomita, Tatsuya Nakamura
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665421133
DOIs	https://doi.org/10.1109/NSS/MIC44867.2021.9875822
State	Published - 2021
Event	2021 IEEE Nuclear Science Symposium and Medical Imaging Conference, NSS/MIC 2021 - Virtual, Yokohama, Japan Duration: Oct 16 2021 → Oct 23 2021

Publication series

Name	2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022

Conference

Conference	2021 IEEE Nuclear Science Symposium and Medical Imaging Conference, NSS/MIC 2021
Country/Territory	Japan
City	Virtual, Yokohama
Period	10/16/21 → 10/23/21

Funding

This material is based on work supported in part by the Defense Threat Reduction Agency under grant number HDTRA 1-18-1-005 and in part by the Department of Energy National Nuclear Security Administration through the Nuclear Science and Security Consortium under Award Number(s) DENA0003180 and/or DE-NA0000979. ACKNOWLEDGMENTS This material is based on work supported in part by the Defense Threat Reduction Agency under grant number HD-TRA 1-18-1-005 and in part by the Department of Energy National Nuclear Security Administration through the Nuclear Science and Security Consortium under Award Number(s) DE-NA0003180 and/or DE-NA0000979.

Keywords

Indoor Source Clearing
Radiation Source Search
Robot Operating System
Unmanned Aerial Vehicle

Access to Document

10.1109/NSS/MIC44867.2021.9875822

Cite this

Zhou, Q., Redding, C. J., Qi, H., & Hayward, J. (2021). Agile Path Planning for Radiation Source Searching with Aerial Drones. In H. Tomita, & T. Nakamura (Eds.), 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022 (2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/NSS/MIC44867.2021.9875822

Zhou, Quan ; Redding, Caleb J. ; Qi, Hairong et al. / Agile Path Planning for Radiation Source Searching with Aerial Drones. 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022. editor / Hideki Tomita ; Tatsuya Nakamura. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022).

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title = "Agile Path Planning for Radiation Source Searching with Aerial Drones",

abstract = "Small unmanned aerial vehicles may allow for rapid radioactive source clearing in an indoor GPS-denied environment. Here we summarize our work on agile path planning to effectively search for and detect radioactive sources in such an environment. Our proposed path planner may potentially find a shorter, more optimal, and collision free route when compared to the path planned without radiation count data. Our algorithms are implemented and demonstrated within the ROS Gazebo simulation environment.",

keywords = "Indoor Source Clearing, Radiation Source Search, Robot Operating System, Unmanned Aerial Vehicle",

author = "Quan Zhou and Redding, {Caleb J.} and Hairong Qi and Jason Hayward",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference, NSS/MIC 2021 ; Conference date: 16-10-2021 Through 23-10-2021",

year = "2021",

doi = "10.1109/NSS/MIC44867.2021.9875822",

language = "English",

series = "2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Hideki Tomita and Tatsuya Nakamura",

booktitle = "2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022",

}

Zhou, Q, Redding, CJ, Qi, H & Hayward, J 2021, Agile Path Planning for Radiation Source Searching with Aerial Drones. in H Tomita & T Nakamura (eds), 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022. 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022, Institute of Electrical and Electronics Engineers Inc., 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference, NSS/MIC 2021, Virtual, Yokohama, Japan, 10/16/21. https://doi.org/10.1109/NSS/MIC44867.2021.9875822

Agile Path Planning for Radiation Source Searching with Aerial Drones. / Zhou, Quan; Redding, Caleb J.; Qi, Hairong et al.
2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022. ed. / Hideki Tomita; Tatsuya Nakamura. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Zhou Q, Redding CJ, Qi H, Hayward J. Agile Path Planning for Radiation Source Searching with Aerial Drones. In Tomita H, Nakamura T, editors, 2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022. Institute of Electrical and Electronics Engineers Inc. 2021. (2021 IEEE Nuclear Science Symposium and Medical Imaging Conference Record, NSS/MIC 2021 and 28th International Symposium on Room-Temperature Semiconductor Detectors, RTSD 2022). doi: 10.1109/NSS/MIC44867.2021.9875822

Agile Path Planning for Radiation Source Searching with Aerial Drones

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Keywords

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