Browsing by Author "Yadav, Indrajeet"
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Item Development and Testing of an Aerial Radiation Detection System(IEEE Sensors Journal, 2021-12-15) Yadav, Indrajeet; Tanner, Herbert G.This paper reports on the design and implementation of an airborne radiation detection system together with its associated signal processing and decision-making algorithms. This system is envisioned as the building block of an aerial radiation sensor network and it is specifically designed to detect weak radiological signatures in transit. The whole system is developed based on low-cost commercial off the shelf (COTS) components, and through a series of detailed experiments and Monte-Carlo tests, the paper shows how it can be deployed in time-critical application scenarios, where the time allocated to detect the source is limited. Performance metrics for the detection algorithms utilized in the system indicate that the reported technology can offer a significant improvement on the detection speeds compared to alternative techniques utilizing the same hardware resources.Item Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments(Guidance, Navigation and Control, 2022-11-23) Baxevani, Kleio; Yadav, Indrajeet; Yang, Yulin; Sebok, Michael; Tanner, Herbert G.; Huang, GuoquanCo-design and integration of vehicle navigation and control and state estimation is key for enabling field deployment of mobile robots in GPS-denied cluttered environments, and sensor calibration is critical for successful operation of both subsystems. This paper demonstrates the potential of this co-design approach with field tests of the integration of a reactive receding horizon-based motion planner and controller with an inertial aided multi-sensor calibration scheme. The reported method provides accurate calibration parameters that improve the performance of the state estimator, and enable the motion controller to generate smooth and continuous minimal-jerk trajectories based on local LiDAR data. Numerical simulations in Unity, and real-world experimental results from the field corroborate the claims of efficacy for the reported autonomous navigation computational pipeline.