Immersive Operation of a Semi-Autonomous Aerial Platform for Detecting and Mapping Radiation

TL;DR

This paper introduces a semi-autonomous aerial platform system with a VR interface that allows one operator to control and monitor radiation detection and mapping in real-time, simplifying nuclear site surveys.

Contribution

The work presents an integrated system combining real-time 3D radiation visualization with semi-autonomous UAV control via VR, enabling single-operator operation for radiation mapping.

Findings

Successful integration of real-time radiation visualization with semi-autonomous UAV control.

Single operator can define flight trajectories and monitor radiation simultaneously.

System paves the way for autonomous fleet deployment of UAVs for nuclear site surveys.

Abstract

Recent advancements in radiation detection and computer vision have enabled small unmanned aerial systems (sUASs) to produce 3D nuclear radiation maps in real-time. Currently these state-of-the-art systems still require two operators: one to pilot the sUAS and another operator to monitor the detected radiation. In this work we present a system that integrates real-time 3D radiation visualization with semi-autonomous sUAS control. Our Virtual Reality interface enables a single operator to define trajectories using waypoints to abstract complex flight control and utilize the semi-autonomous maneuvering capabilities of the sUAS. The interface also displays a fused radiation visualization and environment map, thereby enabling simultaneous remote operation and radiation monitoring by a single operator. This serves as the basis for development of a single system that deploys and autonomously controls fleets of sUASs.