6 accepted papers
This paper contributes a method designed to enable autonomous distributed 3D nuclear radiation field mapping. The algorithm uses a single radiation sensor and a sequence of spatially distributed and robotically acquired radiation measurements across a discretized 3D grid to derive a radiation gradie…
This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot maintains a low weight (<500g) and implements a combined rigid-compliant desi…
In this paper the problem of contact-based navigation path planning for aerial robots is considered with the goal of enabling the autonomous in-contact operation on surfaces that can be highly anomalous. Such a capacity can prove critical in inspection through contact missions, as well as when a fly…
This paper details the system and methods designed to enable the autonomous estimation of distributed nuclear radiation fields within complex and possibly GPS-denied environments. A sensing apparatus consisting of three radially placed Thallium-doped Cesium Iodide (CsI(Tl)) scintillators and Silicon…
This paper presents a novel strategy for autonomous graph-based exploration path planning in subterranean environments. Attuned to the fact that subterranean settings, such as underground mines, are often large-scale networks of narrow tunnel-like and multi-branched topologies, the proposed planner…
This paper details the system and methods developed to enable autonomous nuclear radiation source localization and mapping using aerial robots in GPS-denied environments. A Thallium-doped Cesium Iodide (CsI(Tl)) scintillator and a Silicon Photomultiplier are combined with custom-built electronics fo…