Publications

A Remote-operated System to Map Radiation Dose in the Fukushima Daiichi Primary Containment Vessel

Nancekievill M, Jones A, Joyce M, Lennox B, Watson S, Katakura J et al. 

2018.

A Bio-inspired Aggregation with Robot Swarm using Real and Simulated Mobile Robots

Ramroop S, Arvin F, Watson S, Carrasco J, Lennox B. 

In Giannaccini ME, Giuliani M, Assaf T, editors, Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer Nature. 2018. p. 317-329. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

Point Cloud Simplification by Clustering for Robotics and Computer Vision Applications

Bird B, Lennox B, Watson S. 

In Tremeau A, Braz J, Imai F, editors, VISAPP. Vol. 4. Science and Technology Publications Lda. 2018. p. 113-120

ROS Integration for Miniature Mobile Robots

West A, Arvin F, Martin H, Watson S, Lennox B. 

In Giannaccini ME, Giuliani M, Assaf T, editors, Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer Nature. 2018. p. 345-356. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

Elbow Detection in Pipes for Autonomous Navigation of Inspection Robots

Brown L, Carrasco J, Watson S, Lennox B. 

Journal of Intelligent and Robotic Systems . 2018.

Mona: an Affordable Open-Source Mobile Robot for Education and Research

Arvin F, Espinosa Mendoza JL, Bird B, West A, Watson S, Lennox B. 

Journal of Intelligent & Robotic Systems. 2018.

The Pond Cleaning System

Gornicki K, Groves K, Carrasco J, Lennox B. 

In 2018 UKACC 12th International Conference on Control, CONTROL 2018. IEEE. 2018. 8516738

Automatic Tree Annotation in LiDAR Data

Gupta A, Byrne J, Moloney D, Watson S, Yin H. 

In GISTAM 2018.

Joint Space Reference Trajectory to Reduce the Energy Consumption of a Six-Legged Mobile Robot

Bodrov A, Cheah W, Green P, Watson S, Apsley J. 

In 2018 25th International Workshop on Electric Drives

Comparing Model-Based and Data-Driven Controllers for an Autonomous Vehicle Task

López Pulgarín EJ, Irmak T, Variath Paul J, Meekul A, Herrmann G, Leonards U.

2018. 13 p.

ΦClust: Pheromone-based Aggregation for Robotic Swarms

Arvin F, Emre Turgut A, Krajnik T, Rahimi S, Ege Okay I, Yue S et al. 

Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain.

A Bio-inspired Aggregation with Robot Swarm using Real and Simulated Mobile Robots

Ramroop S, Arvin F, Watson S, Carrasco J, Lennox B. 

In Giannaccini ME, Giuliani M, Assaf T, editors, Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings. Springer Nature. 2018. p. 317-329. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

2017

Wireless Communications in Nuclear Decommissioning Environments

Di Buono A, Cockbain N, Green P, Lennox B. 

Paper presented at UK-RAS Conference on ‘Robotics and Autonomous Systems, Bristol , United Kingdom.

FURO: Pipe Inspection Robot for Radiological Characterisation

Brown L, Carrasco J, Watson S, Lennox B. 

Paper presented at UK-RAS Conference on ‘Robotics and Autonomous Systems, Bristol , United Kingdom. 

 Rise of the Anibots

Arvin F, Watson S, Lennox B

Sellafield Magazine . 2017 Sep 6;7:12-15.

Algorithmic Approach to Planar Void Detection and Validation in Point Clouds

Wright T, Lennox B. 

2017. Paper presented at 18th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2017, Guildford, United Kingdom.

Radiation Tolerance of Commercial-Off-The-Shelf Components Deployed in an Underground Nuclear Decommissioning Embedded System

Nancekievill M, Watson S, Green P, Lennox B. 

Paper presented at 2016 IEEE Radiation Effects Data Workshop (REDW).

Mona: an Affordable Mobile Robot for Swarm Robotic Applications

Arvin F, Espinosa Mendoza JL, Bird B, West A, Watson S, Lennox B. 

In UK-RAS Conference on ‘Robotics and Autonomous Systems. 2017. p. 49-52

Multi-plane Motion Planning for Multi-Legged Robots

Cheah W, Green P, Watson S, Lennox B, Arvin F. 

In UK-RAS Conference on Robotics and Autonomous Systems. 2017. p. 68-70

Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive

Charging

Arvin F, Watson S, Emre Turgut A, Espinosa Mendoza JL, Krajnik T, Lennox B.

Journal of Intelligent & Robotic Systems. 2017 Oct 9

2016

On the Design of a Remotely-Deployed Detection System for Reactor Assessment at Fukushima Daiichi

Jones A, Griffiths A, Joyce M, Lennox B, Watson S, Katakura J et al. 

In IEEE Nuclear Science Symposium 2016.

 Mobile Robots and Remote Characterisation Systems for Nuclear Decommissioning

Arvin F, Ayoola O, Bird B, Brown L, Carrasco J, Cheah W et al.

Paper presented at Waste Management Symposium 2016, Phoenix, United States.

AVEXIS—Aqua Vehicle Explorer for In-Situ Sensing

Griffiths A, Dikarev A, Green P, Lennox B, Poteau X, Watson S

IEEE Robotics and Automation Letters. 2016 Jan 20;1(1):282. 

Robotic Hand Posture and Compliant Grasping Control using Operational Space and Integral Sliding Mode Control

Herrmann G, Jalani J, Mahyuddin MN, Khan SG, Melhuish CR. 

Robotica. 2016 Oct;34(10):2163-2185

A Bio-inspired Embedded Vision System for Autonomous Micro-robots: the LGMD Case

Hu C, Arvin F, Xiong, C, Yue S. 

IEEE Transactions on Autonomous Mental Development . 2016 May 30;9(3):241-254. 

Investigation of Cue-Based Aggregation in Static and Dynamic Environments with a Mobile Robot Swarm

Arvin F, Emre Turgut A, Krajnik T, Yue S. 

Adaptive Behavior. 2016 Apr;24(2): 102-118 .

2015

Robotic Systems for Remote Characterisation and Decommissioning

Watson S, Lennox B, Stancu A. 

In host publication. 2015

Development of Irradiation Capabilities to Address the Challenges of the Nuclear Industry

Leay L, Bower W, Horne G, Wady P, Baidak A, Pottinger M et al. 

Nuclear Instruments & Methods in Physics Research. Section B: Beam Interactions with Materials and Atoms. 2015 Jan 15;343:62-69.

Combined Multiuser Acoustic Communication and Localisation System for uAUVs Operating in Confined Underwater Environments 

Dikarev A, Griffiths A, Watson S, Lennox B, Green PR. 

In IFAC-PapersOnLine. 2015. p. 161-166 

Robotic Inspection Vehicle for HVDC-VSC Facilities: Inspection of HVDC VSC Offshore Substations

Carmona Sanchez J, Watson S. 

University of Manchester, 2015. 71 p.

COS-phi: Artificial Pheromone System for Robotic Swarms Research

Arvin F, Krajnik T, Emre Turgut A, Yue S.

2015.

Power-Law Distribution of Long-Term Experimental Data in Swarm Robotics

Arvin F, Attar A, Turgut AE, Yue S. 

In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 9140. Springer Nature. 2015. p. 551-559. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

2014

Remote Characterization Technology for Decommissioning

Watson S, Green P, Lennox B, Stancu A, Dowson M. 

In host publication. 2014

Depth Control for Micro-Autonomous Underwater Vehicles (μAUVs): Simulation and Experimentation

Watson SA, Green PN. 

International Journal of Advanced Robotic Systems. 2014 Mar 3;11(31). 

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Arvin F, Murray J, Zhang C, Yue S. 

International Journal of Advanced Robotic Systems. 2014 Jul 30;11.

Cue-based Aggregation with a Mobile Robot swarm: A Novel Fuzzy-based Method

Arvin F, Turgut AE, Bazyari F, Arikan KB, Bellotto N, Yue S.

Adaptive Behavior. 2014 Jun;22(3):189-206. 

Comparison of Different Cue-Based Swarm Aggregation Strategies

Arvin F, Turgut AE, Bellotto N, Yue S. 

In International Conference in Swarm Intelligence: Advances in Swarm Intelligence. Vol. 8794. 2014. p. 1-8. (Lecture Notes in Computer Science).

Development of an Autonomous Micro Robot for Swarm Robotics

Arvin F, Murray JC, Shi L, Zhang C, Yue S. 

In Mechatronics and Automation (ICMA), 2014 IEEE International Conference on. IEEE. 2014. p. 635-640

2012

Acoustic Sensor Networks for Decommissioning

York TA, Green PN, Green PR, Phasouliotis A, Qu Z, Watson S et al. 

Measurement and Control. 2012 Mar;45(2):48-54.

Robust Control of a Micro-Autonomous Underwater Vehicle (uAUV) Using Low-Tolerance Components

Watson SA, Green PN. 

In 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles. 2012

The Mechatronic Design of a Micro-Autonomous Underwater Vehicle

Watson SA, Crutchley DJP, Green PN. 

International Journal of Mechatronics and Automation (IJMA). 2012;2(3):157-168. 

Fuzzy-Based Aggregation with a Mobile Robot Swarm

Arvin F, Turgut AE, Yue S. 

Swarm Intelligence. 2012;346-347. 

Implementation of a Cue-Based Aggregation with a Swarm Robotic System

Arvin F, Doraisamy SC, Samsudin K, Ahmad FA, Ramli AR. 

In Communications in Computer and Information Science: Knowledge Technology. Vol. 295. 2012. p. 113-122. (Communications in Computer and Information Science). 

Publications

2020

Use of Robots and Autonomous Systems in the UK 
Use of Robots and Autonomous Systems in the UK
(Korean)

Watson S, Lennox B, Jones J.

Nuclear Industry, 2020 Mar;405:77.

Irradiation Assessment of a Lightweight Industrial Robot: Towards Faster, Safer and Sooner Waste Decommissioning

Zhang K, Hutson C, Knighton J, Herrmann G.

Waste Management Symposia. 2020

Radiation Tolerance Testing Methodology of Robotic Manipulator Prior to Nuclear Waste Handling

Zhang K, Hutson C, Knighton J, Herrmann G, Scott T. Frontiers

Robotics and AI. 2020 Feb 6;7.

Bio-inspired Artificial Pheromone System for Swarm Robotics Applications

Na S, Qiu Y, Turgut AE, Ulrich J, Krajnik T, Yue S et al. 

Adaptive Behavior. 2020 Mar 23.

Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach

Hu J, Bhowmick P, Arvin F, Lanzon A, Lennox B. 

IEEE Robotics and Automation Letters. 2020 Apr.

2019

Detection of Simulated Fukushima Daichii Fuel Debris using a Remotely Operated Vehicle at the Naraha Test Facility

Nancekievill M, Espinosa Mendoza JL, Watson S, Lennox B, Jones A, Joyce M et al.

Sensors. 2019 Oct 23.

Limitations of Wireless Power Transfer Technologies for Mobile Robots

Cheah W, Watson S, Lennox B.

Wireless Power Transfer. 2019 Oct 7.

FullFusion: A Framework for Semantic Reconstruction of Dynamic Scenes

Bujanca M, Luján M, Lennox B. 

The IEEE International Conference on Computer Vision (ICCV) Workshops. 2019

SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding

Bujanca M, Gafton P, Saeedi S, Nisbet A, Bodin B, O'Boyle MF et al.

In 2019 International Conference on Robotics and Automation (ICRA). IEEE. 2019

Autonomous Void Detection and Characterisation in Point Clouds and Triangular Meshes 

Bird B, Lennox B, Watson S, Wright T. 

International Journal of Computational Vision and Robotics. 2019 Aug 1;9(4).

MallARD: An Autonomous Aquatic Surface Vehicle for Inspection and Monitoring of Wet Nuclear Storage Facilities

Groves K, Lennox B, West A, Gornicki K, Watson S, Carrasco J.  

robotics. 2019 Jun 18. 8(2), 47. 


Advanced Motions for Hexapods

Cheah W, Hakim Khalili H, Arvin F, Green P, Watson S, Lennox B.

International Journal of Advanced Robotic Systems. 2019 Apr 9.

A Review of Ground-Based Robotic Systems for the Characterization of Nuclear Environments

Tsitsimpelis I, Taylor CJ, Lennox B, Joyce M.

Progress in Nuclear Energy. 2019 Mar;111:109-124.

Development of a Debris Clearance Vehicle for Limited Access Environments

West C, Cheah W, Rajasekaran V, West A, Arvin F, Watson S et al.

Paper presented at UK-RAS Conference on 'Embedded Intelligence', Loughborough, United Kingdom.

Development of a Multi-robotic System for Exploration of Biomass Power Plants

An S, Arvin F, Watson S, Lennox B. 

Paper presented at UK-RAS Conference on 'Embedded Intelligence', Loughborough, United Kingdom.

Exploration in Extreme Environments with Swarm Robotic System

Huang X, Arvin F, West C, Watson S, Lennox B. 

Paper presented at IEEE International Conference on Mechatronics, Ilmenau, Germany.

Development of ROV System to Explore Fuel Debris in the Fukushima Daiichi Nuclear Power Plant

Kamada S, Katoh M, Nishimura K, Nancekievill M, Watson S, Lennox B et al. 

In 9th International Symposium on Radiation Safety and Detection Technology. Atomic Energy Society of Japan. 2019

A Debris Clearance Robot for Extreme Environments

West C, Arvin F, Cheah W, West A, Watson S, Giuliani M et al. 

In Towards Autonomous Robotic Systems. 2019

Embodiment of an Aquatic Surface Vehicle in an Omnidirectional Ground Robot

Lennox C, Groves K, Hondru V, Arvin F, Gornicki K, Lennox B. 

Paper presented at IEEE International Conference on Mechatronics, Ilmenau, Germany.

Operation of Aerial Inspections Vehicles in HVDC Environments Part A: Evaluation and Mitigation of High Electrostatic Field Impact

Heggo M, Kabbabe K, Peesapati V, Gardner R, Watson S, Crowther B. 

In Journal of Physics: Conference Series. Vol. 1356. IOP Publishing Ltd. 2019

Operation of Aerial Inspections Vehicles in HVDC Environments Part B: Evaluation and Mitigation of Magnetic Field Impact

Heggo M, Mohammed A, Melecio Ramirez J, Kabbabe K, Tuohy P, Watson S et al. 

In Journal of Physics: Conference Series. Vol. 1356. IOP Publishing Ltd. 2019

Tree Annotations in LiDAR Data Using Point Densities and Convolutional Neural Networks

Gupta A, Byrne J, Moloney D, Watson S, Yin H. 

IEEE Transactions on Geoscience and Remote Sensing. 2019 Oct 11. 

CNN-Based Semantic Change Detection in Satellite Imagery

Gupta A, Welburn E, Watson S, Yin H. 

In Artificial Neural Networks and Machine Learning – ICANN 2019. 

Post Disaster Mapping with Semantic Change Detection in Satellite Imagery

Gupta A, Welburn E, Watson S, Yin H. 

In Proceedings of the Computer Vision and Pattern Recognition Workshops. 2019

A Navigational System for Quadcopter Remote Inspection of Offshore Substations

Welburn E, Hakim Khalili H, Gupta A, Watson S, Carrasco J. 

In The Fifteenth International Conference on Autonomic and Autonomous Systems 2019. 

Virtual reality interface for HVDC substation and DC breaker design and maintenance

Marsh C, Barnes M, Crowther B, Watson S, Vilchis-Rodriguez D, Carmona Sanchez J et al. 

Paper presented at IET AC/DC Conference, Coventry, United Kingdom.

A Mixed Reality Approach to Robotic Inspection of Remote Environments

Welburn E, Wright T, Marsh C, Lim S, Gupta A, Crowther B et al. 

Paper presented at UK-RAS Conference on 'Embedded Intelligence', Loughborough, United Kingdom.

Multitemporal Aerial Image Registration Using Semantic Features

Gupta A, Peng Y, Watson S, Yin H. 

In International Conference on Intelligent Data Engineering and Automated Learning. Springer Nature. 2019. p. 78-86. (Lecture Notes in Computer Science; 11872).

Improving Thermal Substation Inspections Utilising Machine Learning

Straker A, Carrasco J, Podd F, Gardner R, Cotton I. 

Paper presented at Thermosense: Thermal Infrared Applications XLI, Baltimore, United States.

Advection and Diffusion Effects Towards a Bio-inspired Artificial Pheromone System

Na S, Raoufi M, Emre Turgut A, Krajnik T, Lennox B, Arvin F. 

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).

Self-organised Flocking in Robotic Swarm based on Active Elastic Sheet

Raoufi M, Emre Turgut A, Lennox B, Arvin F. 

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). 

Development of a Multi-robotic System for Exploration of Biomass Power Plants

An S, Arvin F, Watson S, Lennox B. 

Paper presented at UK-RAS Conference on 'Embedded Intelligence', Loughborough, United Kingdom.

Exploration in Extreme Environments with Swarm Robotic System

Huang X, Arvin F, West C, Watson S, Lennox B. 

Paper presented at IEEE International Conference on Mechatronics, Ilmenau, Germany.

The Challenges Posed by Global Broadacre Crops in Delivering Smart Agri-Robotic Solutions: A Fundamental Rethink is Required

Grieve B, Duckett T, Collison M, Boyd L, West J, Yin H et al. 

Global Food Security. 2019 Dec;23:116-124.

Cooperative Control of Integrator Negative Imaginary Systems with Application to Rendezvous Multiple Mobile Robots

O. Skeik, J. Hu, F. Arvin and A. Lanzon.

12th International Workshop on Robot Motion and Control (RoMoCo), Poznań, Poland, 2019, pp. 15-20.

Extended Artificial Pheromone System for Swarm Robotic Applications

Na S, Raoufi M, Emre Turgut A, Krajnik T, Arvin F. 

Paper presented at Conference on Artificial Life, Newcastle, United Kingdom.

PΦSS: An Open-Source Experimental Setup for Real-World Implementation of Swarm Robotic Systems in Long-Term Scenarios

Arvin F, Krajnik T, Emre Turgut A. 

Paper presented at Modelling and Simulation for Autonomous Systems, Prague, Czech Republic.

Self-organized Collective Motion with a Simulated Real Robot Swarm

Raoufi M, Emre Turgut A, Arvin F. 

In Towards Autonomous Robotic Systems. 2019

2018

Radiological Monitoring of Nuclear Facilities Using the Continuous Autonomous Radiation Monitoring Assistance (CARMA) Robot

Bird B, Griffiths A, Martin H, Codres E, Jones J, Stancu A et al. 

IEEE Robotics and Automation Magazine . 2018 Dec 13.

The Integration of a CeBr3 Detector with a Submersible ROV for Reactor Assessment at Fukushima Daiichi

Jones A, Nancekievill M, Lennox B, Watson S, Katakura J, Okumura K et al. 

2018.

Grid-based Motion Planning using Advanced Motions for Hexapod Robots

Cheah W, Hakim Khalili H, Watson S, Green P, Lennox B. 

Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain.

Pose Estimation for Mobile Robots to Maximise Data Quality of Fixed-Focus Laser Diagnostics in Hazardous Environments

West A, Watson S, Lennox B. 

Paper presented at IEEE International Conference on Intelligent Robots and Systems (IROS) 2018, Madrid, Spain.

Development of a Radiological Characterization Submersible ROV for use at Fukushima Daiichi

Nancekievill M, Jones AR, Joyce MJ, Lennox B, Watson S, Katakura J et al. . 

IEEE Transactions on Nuclear Science . 2018 Sep;65(9):2565-2572.

A Hybrid Underwater Acoustic and RF Localisation System for Enclosed Environments using Sensor Fusion

Espinosa Mendoza JL, Tsiakkas M, Wu D, Watson S, Carrasco J, Green P et al.

Paper presented at Towards Autonomous Robotic Systems , Bristol, United Kingdom.

Miniature Inspection Robot for Restricted Access eXploration (MIRRAX) 

Martin H, Watson S, Lennox B, Poteau X. 

In WMSYM 2018.

Robotic Platforms for Remote Access and Sensing Applications for Nuclear Decommissioning

Arvin F, Bird B, Brown L, Cheah W, Di Buono A, Espinosa Mendoza JL et al. 

In WMSYM 2018. 2018

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