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Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments

Mitchell, Daniel; Emor Baniqued, Paul Dominick; Zahid, Abdul; West, Andrew; Nouri Rahmat Abadi, Bahman; Lennox, Barry; Liu, Bin; Kizilkaya, Burak; Flynn, David; Francis, David John; Pulgarin, Erwin Jose Lopez; Zhao, Guodong; Kivrak, Hasan; Blanche, Jamie Rowland Douglas; David, Jennifer; Wang, Jingyan; Bolarinwa, Joseph; Yao, Kanzhong; Groves, Keir; Qi, Liyuan; Shawky, Mahmoud A.; Giuliani, Manuel; Sandison, Melissa; Popoola, Olaoluwa; Marjanovic, Ognjen; Bremner, Paul; Harper, Samuel Thomas; Nandakumar, Shivoh; Watson, Simon; Agrawal, Subham; Lim, Theodore; Johnson, Thomas; Ahmad, Wasim; Xu, Xiangmin; Meng, Zhen; Jiang, Zhengyi

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Authors

Daniel Mitchell

Paul Dominick Emor Baniqued

Abdul Zahid

Andrew West

Bahman Nouri Rahmat Abadi

Barry Lennox

Bin Liu

Burak Kizilkaya

David Flynn

David John Francis

Erwin Jose Lopez Pulgarin

Guodong Zhao

Hasan Kivrak

Jamie Rowland Douglas Blanche

Jennifer David

Jingyan Wang

Joseph Bolarinwa

Kanzhong Yao

Keir Groves

Liyuan Qi

Mahmoud A. Shawky

Manuel Giuliani Manuel.Giuliani@uwe.ac.uk
Co- Director Bristol Robotics Laboratory

Melissa Sandison

Olaoluwa Popoola

Ognjen Marjanovic

Paul Bremner Paul2.Bremner@uwe.ac.uk
Associate Professor in Human Robotics Interactions

Samuel Thomas Harper

Shivoh Nandakumar

Simon Watson

Subham Agrawal

Theodore Lim

Thomas Johnson

Wasim Ahmad

Xiangmin Xu

Zhen Meng

Zhengyi Jiang



Abstract

AbstractNuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Clean Out (POCO) around nuclear facilities each year, resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning phases. The UK Nuclear Decommissioning Authority supports the view that human‐in‐the‐loop (HITL) robotic deployments are a solution to improve procedures and reduce risks within radiation characterisation of nuclear sites. The authors present a novel implementation of a Cyber‐Physical System (CPS) deployed in an analogue nuclear environment, comprised of a multi‐robot (MR) team coordinated by a HITL operator through a digital twin interface. The development of the CPS created efficient partnerships across systems including robots, digital systems and human. This was presented as a multi‐staged mission within an inspection scenario for the heterogeneous Symbiotic Multi‐Robot Fleet (SMuRF). Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together, where a single robot would face challenges in full characterisation of radiation. Key contributions include the demonstration of symbiotic autonomy and query‐based learning of an autonomous mission supporting scalable autonomy and autonomy as a service. The coordination of the CPS was a success and displayed further challenges and improvements related to future MR fleets.

Journal Article Type Article
Acceptance Date Oct 30, 2023
Online Publication Date Dec 26, 2023
Publication Date Dec 31, 2023
Deposit Date Jan 2, 2024
Publicly Available Date Jan 2, 2024
Journal IET Cyber-Systems and Robotics
Electronic ISSN 2631-6315
Publisher Institution of Engineering and Technology (IET)
Peer Reviewed Peer Reviewed
Volume 5
Issue 4
Article Number e12103
DOI https://doi.org/10.1049/csy2.12103
Keywords Artificial Intelligence, Computational Theory and Mathematics, Computer Networks and Communications, Hardware and Architecture, Human-Computer Interaction, Information Systems
Public URL https://uwe-repository.worktribe.com/output/11533303

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