Recent advancements in radiation detection and computer vision have enabled small unmanned aerial systems (sUASs) to produce 3D nuclear radiation maps in real-time. Currently these state-of-the-art systems still require two operators: one to pilot the sUAS and another operator to monitor the detected radiation. In this work we present a system that integrates real-time 3D radiation visualization with semi-autonomous sUAS control. Our Virtual Reality interface enables a single operator to define trajectories using waypoints to abstract complex flight control and utilize the semi-autonomous maneuvering capabilities of the sUAS. The interface also displays a fused radiation visualization and environment map, thereby enabling simultaneous remote operation and radiation monitoring by a single operator. This serves as the basis for development of a single system that deploys and autonomously controls fleets of sUASs.
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