Collaborative SLAM for Facilitating Radiological Search and Mapping on a Multi-agent Aerial Platform

Remote radiological source localization and mapping needed in first-response and disaster prevention scenarios in areas containing one or more radiation sources. UAVs provide ideal platforms for traversing arbitrary terrain when equipped with specialized, lightweight radiation sensors. Resolution of radiological sensing on a mobile platform is greatly improved when fused with pose estimates and 3D map information obtained through SLAM.

Single-agent aerial radiological mapping solutions such as the LAMP exist, and there is currently interest in determining whether their capabilities can be expanded in a coordinated multi-agent configuration. From a systems perspective, the following questions remain to be answered:

(*) What are the requirements for the accuracy and consistency of a collaborative mapping solution for multi-agent expansion costs to be justified by search gains in coverage and time?
(*) How to most efficiently jointly map 3D and radiation data?