Search for a Radioactive Source: Coordinated Multiple Observers

Given a designated polygon-shaped search area with obstacles, the problem is to establish if a radioactive material of unknown intensity of radiation is present in the area, and if present, its whereabouts. The detection/estimation part of the problem is solved in the Bayesian framework using a particle filter. The coordinated search by multiple observers is carried out by maximization of the information gain measured by the Renyi divergence. The simulation results indicate a fairly high success-rate of the proposed scheme.