用微型康普顿相机+无人机群实时定位放射源，40克设备可装在小型无人机上。
RADRON: Cooperative Localization of Ionizing Radiation Sources by MAVs with Compton Cameras
- 多架微型无人机协同飞行，用40克康普顿相机实时采集辐射数据
- 仅需稀疏测量即可估计源位置，实现动态反馈引导无人机搜索
- 适合核应急响应、移动辐射源追踪等场景
我们提出一种新型方法，通过协作的微型飞行器（MAVs）定位放射性物质。该方法采用先进的单探测器康普顿相机作为高灵敏度、超轻量化（40克）的电离辐射探测器，使多架敏捷无人机具备辐射探测能力。我们提出一种新原理，将康普顿相机测量数据融合，即使在极稀疏数据条件下也能实时估计辐射源位置。数据读取与处理在机上完成，结果用于动态反馈控制无人机运动。无人机以紧密协同群组飞行，最大化康普顿相机信息获取，快速定位辐射源，并可追踪移动源。
原文摘要 · Abstract (English)
We present a novel approach to localizing radioactive material by cooperating Micro Aerial Vehicles (MAVs). Our approach utilizes a state-of-the-art single-detector Compton camera as a highly sensitive, yet miniature detector of ionizing radiation. The detector's exceptionally low weight (40 g) opens up new possibilities of radiation detection by a team of cooperating agile MAVs. We propose a new fundamental concept of fusing the Compton camera measurements to estimate the position of the radiation source in real time even from extremely sparse measurements. The data readout and processing are performed directly onboard and the results are used in a dynamic feedback to drive the motion of the vehicles. The MAVs are stabilized in a tightly cooperating swarm to maximize the information gained by the Compton cameras, rapidly locate the radiation source, and even track a moving radiation source.
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