Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments

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.