Towards Autonomous Execution of Safe and Precise Robotic Radiation Surveys in the Super Proton Synchrotron

Abstract The article presents the automation of radiation surveys in the Super Proton Synchrotron (SPS) accelerator using autonomous robotic navigation techniques. The mission plan includes precise radiation monitoring along beam components; navigation along walls; crossing safety doors; maneuvering in open spaces (e.g., entrances and the beam dump area); deploying a manipulator-mounted radiation sensor; and docking or undocking at charging stations for long-term operations. Two mobile manipulators are deployed underground and operated via a multimodal telerobotic graphical user interface (GUI), which enables mission launches in Autopilot mode, supervision of operations, parameter adjustments (e.g., velocity, distances, positions), and manual intervention when required. The core contribution is the development of navigation techniques that enable fully autonomous radiation surveys, thereby enhancing safety, reducing operator workload, and standardizing measurements. Key features include an Autopilot system for the SPS arc tunnel that leverages LiDAR mapping, clustering, and visual segmentation. The article also presents solutions for automated gate crossing and parking. In complex areas—such as the beam dump area and the six access points—the SLAM Karto algorithm enables goal-directed navigation. Mapping results and techniques are discussed. Finally, the article highlights additional applications, including the use of the Autopilot during the Measurement and Inspection Robot for Accelerators (MIRA) test campaign at the DESY institute.