Radiation Exposure Reduction During Autonomous Exploration

Each folder contains 20 individual autonomous exploration sessions of a simulated environment. The robot is instructed to explore (using frontiers exploration) whilst 5 simulated gamma radiation sources are present in the space. Radiation avoidance is enabled or disabled in each case (labelled enabled or disabled respectively). Data is comma separated based on ROS message output, with header: time (ns), sequential number, ros message time stamp (ns), transform frame of the sensor (string), sensor pose {x,y,z} (m), sensor orientation quaternion {x,y,z,w}. Also included as a 2D map of the environment produced by the robot using SLAM (simultaneous localisation and mapping). Each cell of the map is represented by three states in the .pgm file as free space, obstacle, or unknown. The resolution, origin, and other metadata for the map is found in the accompanying .yaml file. On average, when the robot is exploring the unknown environment with radiation awareness enabled, accumulated dose is less than when the robot does not take action to avoid ionising radiation