G.V. Moiseev1, A.N. Alyunov2, V.V. Ivanov3

1–3 Financial University under the Government of the Russian Federation (Moscow, Russia)
1 grg.moiseev@gmail.com

Due to the short range of the GM detector of a single unmanned aerial vehicle, the effectiveness of searching for a radiation source over large areas is limited. To solve this problem, it is proposed to use existing mathematical models for a group of robots. The group use of UAVs allows the exchange of measurement results, which increases the efficiency of the search and the accuracy of the assessment of the radiation source. Additionally, it is proposed to use a particle fusion algorithm, which will help reduce the number of calculations when searching for a radiation source in a group.

Target – this article proposes an algorithm for jointly searching for an unknown radiation source by combining information from a group of UAVs and a free energy strategy with an adaptive step size.

Based on information from several UAVs, particle fusion is carried out in accordance with the specified conditions to obtain accurate parameters of the location of the radiation source. It assumes a step-by-step exchange of information between robots to solve the problem of searching for an unknown source of radiation using a free energy strategy with an adaptive step size.

The results of preliminary numerical experiments show that the success rate of the search using the proposed algorithm can reach 95%.

Moiseev G.V., Alyunov A. N., Ivanov V. V. Radiation source multi-agent search by drones. Nonlinear World. 2025. V. 23. № 3. P. 66–72. DOI: https:// doi.org/10.18127/ j20700970-202503-08 (In Russian)

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