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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10119/14272

タイトル: Fast Radioactive Hotspot Localization Using a UAV
著者: Newaz, Abdullah Al Redwan
Jeong, Sungmoon
Chong, Nak Young
キーワード: hotspot localization
radiation field
発行日: 2016
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
開始ページ: 9
終了ページ: 15
DOI: 10.1109/SIMPAR.2016.7862348
抄録: We address the problem of hotspot seeking in an unknown radiation field using an Unmanned Aerial Vehicle(UAV) with limited resources. For on-the-spot investigation of accidental radiation releases, without a priori knowledge on the whereabouts of the source of radiation substances leakages, it is very difficult to navigate and return a UAV for fast hotspot localization. We propose a novel Hexagonal Tree (HexTree) based sampling algorithm to find such an optimal tour path based on the appropriate measurement locations. We make a realistic assumption on the environment, theoretically analyze the optimality of proposed algorithm, and numerically compare the performance with the existing method. The proposed algorithm gives faster convergence to the hotspot, an optimal exploration termination condition, and more informative locations while returning to the initial position than conventional random sampling based exploration and path smoothing algorithms.
Rights: This is the author's version of the work. Copyright (C) 2016 IEEE. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2016, 9-15. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/14272
資料タイプ: author
出現コレクション:b11-1. 会議発表論文・発表資料 (Conference Papers)


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