Agile Path Planning for Radiation Source Searching with Aerial Drones

Small unmanned aerial vehicles may allow for rapid radioactive source clearing in an indoor GPS-denied environment. Here we summarize our work on agile path planning to effectively search for and detect radioactive sources in such an environment. Our proposed path planner may potentially find a shorter, more optimal, and collision free route when compared to the path planned without radiation count data. Our algorithms are implemented and demonstrated within the ROS Gazebo simulation environment.