Petr Štibinger presents Localization of Ionizing Radiation Sources by Cooperating MAVs With Pixel Detectors in Real Time

On 2020-12-08 13:00:00 at The seminar will be held online
The seminar will be held online via Zoom.
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Meeting ID: 957 0688 8113
Passcode: 203912

Paper abstract:
We present a complex software package allowing the user to deploy multiple
ionizing radiation sources and detectors modeled after the Timepix miniature
pixel detector. The software is provided to the community as open-source, and
allows preliminary testing and method development even without a pixel detector
or radiation sources. Our simulation model utilizes ray-tracing and Monte Carlo
methods to resolve interactions of ionizing radiation with the detector,
obstacles and the atmosphere. An open-source implementation is provided as a
plugin for Gazebo, a simulator popular within the robotics community. The
plugin is capable of simulating radiation sources with activities in the order
of GBq (1 Bq = 1 decay event per second) in real-time with a conventional PC.
We also provide a ROS interface, which allows full integration of the Timepix
pixel detector into a robotic system. The credibility and the precision of the
simulator plugin were confirmed via a real-world experiment with a micro aerial
vehicle (MAV) equipped with a Timepix detector mapping the radiation intensity
of an Am-241 sample. Finally, we present a method for cooperative localization
of a source of ionizing radiation by a group of autonomous MAVs in an
environment with obstacles.

Link to the paper:
Za obsah zodpovídá: Petr Pošík