Figure2

Multi-robot cooperative search for radioactive sources based on particle swarm optimization particle filter

Figure 2. Heatmap of the radiation distribution in the simulated environment, where the color bars indicate the signal strength in CPS. In the map, the source is at the upper right with an activity of about $$ 2.8 \times 10^5 $$ CPS. CPS: Counts per second.

Intelligence & Robotics
ISSN 2770-3541 (Online)
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