Journal of Intelligent & Robotic Systems

, Volume 70, Issue 1–4, pp 401–410 | Cite as

Low-cost Multi-UAV Technologies for Contour Mapping of Nuclear Radiation Field

  • Jinlu Han
  • Yaojin Xu
  • Long Di
  • YangQuan Chen


Low cost UAVs are becoming more and more popular in both research and practical applications, and it leads to a new, potentially significant service product known as UAV-based personal remote sensing (PRS). Multi-UAV system with advanced cooperative control algorithms has advantages over single UAV system, especially in time urgent tasks such as detecting nuclear radiation before deploying the salvage. This paper considers two scenarios for nuclear radiation detection using multiple UAVs, of which contour mapping of the nuclear radiation is simulated. Then, for real applications, this paper presents a low-cost UAV platform with built-in formation flight control architecture together with a formulated standard flight test routine. Three experimental formation flight scenarios that imitate the nuclear detection missions are prepared for contour mapping of nuclear radiation field in 3D space.


Low-cost UAV formation flight Radiation detection Contour mapping 


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.CSOIS, Department of Electrical and Computer EngineeringUtah State UniversityLoganUSA
  2. 2.School of AutomationSoutheast UniversityNanjingChina
  3. 3.Charles L. Brown Department of Electrical and Computer EngineeringUniversity of VirginiaCharlottesvilleUSA

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