@article{8facdb956e364b7e83eb1ba555265b7a,
title = "Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments",
abstract = "Nuclear 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.",
keywords = "cyber-systems, field robotics, hazardous inspection, human robot interaction, industrial robotics, mobile robots, multi-agent systems, multi-robot systems, robotics, service robots",
author = "Daniel Mitchell and {Emor Baniqued}, {Paul Dominick} and Abdul Zahid and Andrew West and {Nouri Rahmat Abadi}, Bahman and Barry Lennox and Bin Liu and Burak Kizilkaya and David Flynn and Francis, {David John} and Pulgarin, {Erwin Jose Lopez} and Guodong Zhao and Hasan Kivrak and Blanche, {Jamie Rowland Douglas} and Jennifer David and Jingyan Wang and Joseph Bolarinwa and Kanzhong Yao and Keir Groves and Liyuan Qi and Shawky, {Mahmoud A.} and Manuel Giuliani and Melissa Sandison and Olaoluwa Popoola and Ognjen Marjanovic and Paul Bremner and Harper, {Samuel Thomas} and Shivoh Nandakumar and Simon Watson and Subham Agrawal and Theodore Lim and Thomas Johnson and Wasim Ahmad and Xiangmin Xu and Zhen Meng and Zhengyi Jiang",
note = "Funding Information: The authors would like to thank RAICo for the use of their RAICo 1 facility and Sellafield Ltd for the feedback throughout the demonstrations which took place. We would also like to thank the following funders who enabled this work to take place. EPSRC Grants EP/P01366X/1 (RNE), EP/W001128/1 (RAIN+), EPSRC Impact Acceleration Account Secondment Scheme, “Heterogeneous multi‐agent robotic inspection missions” which was jointly funded by Sellafield Ltd., The University of Manchester and EPSRC, Chinese Scholarship Council‐University of Manchester joint programme, EPSRC Grant EP/V026941/1 (ALACANDRA) and SBRI—Digital Technologies for Robotic Nuclear Decommissioning: Teleoperation with digital twins—C/2064382. Funding Information: The authors would like to thank RAICo for the use of their RAICo 1 facility and Sellafield Ltd for the feedback throughout the demonstrations which took place. We would also like to thank the following funders who enabled this work to take place. EPSRC Grants EP/P01366X/1 (RNE), EP/W001128/1 (RAIN+), EPSRC Impact Acceleration Account Secondment Scheme, “Heterogeneous multi-agent robotic inspection missions” which was jointly funded by Sellafield Ltd., The University of Manchester and EPSRC, Chinese Scholarship Council-University of Manchester joint programme, EPSRC Grant EP/V026941/1 (ALACANDRA) and SBRI—Digital Technologies for Robotic Nuclear Decommissioning: Teleoperation with digital twins—C/2064382. Publisher Copyright: {\textcopyright} 2023 The Authors. IET Cyber-systems and Robotics published by John Wiley & Sons Ltd on behalf of Zhejiang University Press.",
year = "2023",
month = dec,
doi = "10.1049/csy2.12103",
language = "English",
volume = "5",
journal = "IET Cyber-Systems and Robotics",
issn = "2631-6315",
publisher = "John Wiley and Sons Inc.",
number = "4",
}