Distributed Radiation Field Estimation and Informative Path Planning for Nuclear Environment Characterization
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)（2019）
关键词
distributed radiation field estimation,informative path planning,nuclear environment characterization,autonomous estimation,distributed nuclear radiation fields,GPS-denied environments,sensing apparatus,radially placed Thallium-doped Cesium Iodide,Silicon Photomultipliers,pulse counting circuitry,provided readings,LiDAR-based localization,radiation intensity readings,immediate field gradient,believed field intensity,local measurement,field gradient co-estimation,informative data gathering,path planning strategy,uncertainty,admissible paths,autonomous exploration,SiPm
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