DP-SLAM: fast, robust simultaneous localization and mapping without predetermined landmarks
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
NENA 1.0: novel extended nuclear application for the safekeeping of contamination-free environments
WSEAS Transactions on Systems and Control
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In the past years, various robotic inspection systems have been developed for industrial automation. The industry offers a wide range of applications for robotic systems. The inspection and cleaning of severs or an automation of a biotechnology laboratory are successful examples for robotic systems and automation [1]. In this paper, we present a novel system for the autonomous 2D determination of radioactivity and contaminated areas. The importance of autonomous determination of radioactivity, in the course of disassembly of nuclear power plants, will rise in the upcoming years. It enables remarkable possible savings, concerning work time and personnel expenses. Our mobile robot is able to scan incrementally the whole floor of a building, in order to assure clean environments in nuclear power plants or castors, and marks the contaminated areas in a generated map of the building for further evaluation. The paper discusses the main requirements of a navigation system for 2D detection of radioactivity, presents the hardware and software set-up and some real-world experiments with our mobile robot.