Barry Lennox

2024

Bayesian optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance

Teodorescu, C. S., West, A. & Lennox, B., 1 Jan 2025, In: Control Engineering Practice. 154, 106141.

Research output: Contribution to journal › Article › peer-review

Open Access

Cyber–physical system architecture of autonomous robot ecosystem for industrial asset monitoring

Kivrak, H., Karakusak, M. Z., Watson, S. & Lennox, B., 15 Mar 2024, In: Computer Communications. 218, p. 72-84

Research output: Contribution to journal › Article › peer-review

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Fast Collision-Free Multi-Vehicle Lane Change Motion Planning and Control Framework in Uncertain Environments

Liu, T., Chai, R., Chai, S., Arvin, F., Zhang, J. & Lennox, B., 1 Dec 2024, In: IEEE Transactions on Industrial Electronics. 71, 12, p. 16602-16613

Research output: Contribution to journal › Article › peer-review

Open Access

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Multimodal immersive digital twin platform for cyber–physical robot fleets in nuclear environments

Baniqued, P. D., Bremner, P., Sandison, M., Harper, S., Agrawal, S., Bolarinwa, J., Blanche, J., Jiang, Z., Johnson, T., Mitchell, D., Lopez, E., West, A., Willis, M., Yao, K., Flynn, D., Giuliani, M., Groves, K., Lennox, B. & Watson, S., 11 Apr 2024, (E-pub ahead of print) In: Journal of Field Robotics . p. 1-20 20 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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2023

CARMA II: A ground vehicle for autonomous surveying of alpha, beta and gamma radiation

Groves, K., Nourirahmatabadi, B., West, A., Nancekievill, M., Lennox, B., Marjanovic, O. & Ballard, C., 31 Mar 2023, In: Frontiers in Robotics and AI. 10

Research output: Contribution to journal › Article › peer-review

Open Access

Federated Reinforcement Learning for Collective Navigation of Robotic Swarms

Na, S., Rouček, T., Ulrich, J., Pikman, J., Krajník, T., Lennox, B. & Arvin, F. (Corresponding), 1 Dec 2023, In: IEEE Transactions on Cognitive and Developmental Systems. 15, 4, p. 2122-2131 10 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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Lessons Learned: Symbiotic Autonomous Robot Ecosystem for Nuclear Environments

Mitchell, D., Baniqued, P. D., Lennox, B., Groves, K., Watson, S., West, A., Lopez, E., Kivrak, H., Bolarinwa, J., Yao, K., Sandison, M., Marjanovic, O., Johnson, T., Jiang, Z., Zahid, A., Abadi, B. N. R., Liu, B., Kizilkaya, B., Flynn, D. & Francis, D. J. & 16 others, Zhao, G., David, J., Wang, J., Qi, L., Shawky, M., Giuliani, M., Popoola, O., Marjanovic, O., Bremner, P., Harper, S., Nandakumar, S., Agrawal, S., Lim, T., Ahmad, W., Xu, X. & Meng, Z., 15 Dec 2023, In: IET Cyber-Systems Robotics. 5, 4

Research output: Contribution to journal › Article › peer-review

Open Access

Localising and identifying radionuclides via energy-resolved angular photon responses

Tsitsimpelis, I., Alton, T., West, A., Taylor, C. J., Lennox, B., Livens, F. & Joyce, M. J., 1 Dec 2023, In: Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment. 1057, 168771.

Research output: Contribution to journal › Article › peer-review

Open Access

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2022

Bio-inspired Collision Avoidance in Swarm Systems via Deep Reinforcement Learning

Na, S., Niu, H., Lennox, B. & Arvin, F., 25 Jan 2022, In: IEEE Transactions on Vehicular Technology. 71, 3, p. 2511-2526 16 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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Design and Experimental Validation of Deep Reinforcement Learning-Based Fast Trajectory Planning and Control for Mobile Robot in Unknown Environment

Chai, R., Niu, H., Carrasco, J., Arvin, F., Yin, H. & Lennox, B., 10 Oct 2022, (E-pub ahead of print) In: IEEE Transactions on NEural Networks and Learning Systems. p. 1-15 16 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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Fault-Tolerant Cooperative Navigation of Networked UAV Swarms for Forest Fire Monitoring

Hu, J., Niu, H., Carrasco, J., Lennox, B. & Arvin, F., 7 Mar 2022, (Accepted/In press) In: Aerospace Science and Technology.

Research output: Contribution to journal › Article › peer-review

Improved localization of radioactivity with a normalized sinc transform

Tsitsimpelis, I., Alton, T. L., West, A., Taylor, C. J., Livens, F., Lennox, B. & Joyce, M. J., 14 Sept 2022, In: Frontiers in Nuclear Engineering. 1, 989361.

Research output: Contribution to journal › Article › peer-review

Open Access

Learning-based shared control using Gaussian processes for obstacle avoidance in teleoperated robots

Teodorescu, C. S., Groves, K. & Lennox, B., 21 Sept 2022, In: robotics. 11, 5, 102.

Research output: Contribution to journal › Article › peer-review

Open Access

MIRRAX: A Reconfigurable Robot for Limited Access Environments

Cheah, W., Groves, K., Martin, H., Peel, H., Watson, S., Marjanovic, O. & Lennox, B., 30 Sept 2022, In: IEEE Transactions on Robotics. p. 1 - 12

Research output: Contribution to journal › Article › peer-review

Open Access

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Model stacking to improve prediction and variable importance robustness for soft sensor development

Barton, M. & Lennox, B., 3 Jun 2022, In: Digital Chemical Engineering. 100034.

Research output: Contribution to journal › Article › peer-review

Open Access

Radiation tolerance of a small COTS single board computer for mobile robots

West, A., Knapp, J., Lennox, B., Walters, S. & Watts, S., Jun 2022, In: Nuclear Engineering and Technology. 54, 6, p. 2198-2203 6 p.

Research output: Contribution to journal › Article › peer-review

Open Access

Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots

West, A., Wright, T., Tsitsimpelis, I., Groves, K., Joyce, M. J. & Lennox, B., 17 Mar 2022, In: Frontiers in Robotics and AI. 9, 13 p., 862067.

Research output: Contribution to journal › Article › peer-review

Open Access

Robust Formation Control for Networked Robotic Systems Using Negative Imaginary Dynamics

Hu, J., Lennox, B. & Arvin, F., 24 Jan 2022, (Accepted/In press) In: Automatica.

Research output: Contribution to journal › Article › peer-review

2021

A 3-DOF piezoelectric driven nanopositioner: Design, control and experiment

Li, P. Z., Zhang, D. F., Lennox, B. & Arvin, F., 16 Jun 2021, In: Mechanical Systems and Signal Processing. 155, 107603.

Research output: Contribution to journal › Article › peer-review

Open Access

Finite-Time Bearing-Only Formation Tracking of Heterogeneous Mobile Robots with Collision Avoidance

Wu, K., Hu, J., Lennox, B. & Arvin, F., 17 Mar 2021, In: IEEE Transactions on Circuits and Systems II: Express Briefs. 68, 10, p. 3316-3320 5 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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Multivariate batch to batch optimisation of fermentation processes to improve productivity

Barton, M., Duran Villalobos, C. A. & Lennox, B., 8 Nov 2021, (Accepted/In press) In: Journal of Process Control.

Research output: Contribution to journal › Article › peer-review

Multivariate statistical data analysis of cell‐free protein synthesis toward monitoring and control

Duran Villalobos, C. A., Ogonah, O., Melinek, B., Bracewell, D., Hallam, T. & Lennox, B., 23 Mar 2021, In: AIChE Journal. p. 1-12 12 p., e17257.

Research output: Contribution to journal › Article › peer-review

Open Access

Robotic arm material characterisation using LIBS and Raman in a nuclear hot cell decommissioning environment

Coffey, P., Smith, N., Lennox, B., Kijne, G., Bowen, B., Davis-johnston, A. & Martin, P. A., 21 Jan 2021, In: Journal of Hazardous Materials. 412, 125193.

Research output: Contribution to journal › Article › peer-review

Open Access

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Robotic Exploration of an Unknown Nuclear Environment Using Radiation Informed Autonomous Navigation

Groves, K., Hernandez, E., West, A., Wright, T. & Lennox, B., 1 Jun 2021, In: robotics. 10, 2, 78.

Research output: Contribution to journal › Article › peer-review

Open Access

Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Hu, J., Turgut, A. E., Lennox, B. & Arvin, F., 21 Apr 2021, In: IEEE Transactions on Circuits and Systems II: Express Briefs. 69, 1, p. 114-118 5 p.

Research output: Contribution to journal › Article › peer-review

Open Access

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SDP-Based Robust Formation-Containment Coordination of Swarm Robotic Systems with Input Saturation

Wu, K., Hu, J., Lennox, B. & Arvin, F., 19 Apr 2021, In: Journal of Intelligent & Robotic Systems. 102, 1, 12.

Research output: Contribution to journal › Article › peer-review

Open Access

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Self-Organised Collision-Free Flocking Mechanism in Heterogeneous Robot Swarms

Ban, Z., Hu, J., Lennox, B. & Arvin, F., Dec 2021, In: Mobile Networks and Applications. 26, 6, p. 2461-2471 11 p.

Research output: Contribution to journal › Article › peer-review

Open Access

31 Downloads (Pure)

Simulating Ionising Radiation in Gazebo for Robotic Nuclear Inspection Challenges

Wright, T., West, A., Lennox, B., Licata, M. & Hawes, N., 7 Jul 2021, In: robotics. 10, 3, 27 p., 86.

Research output: Contribution to journal › Article › peer-review

Open Access

Use of Gaussian Process Regression for Radiation Mapping of a Nuclear Reactor with a Mobile Robot

West, A., Tsitsimpelis, I., Licata, M., Jazbec, A., Snoj, L., Joyce, M. J. & Lennox, B., 1 Dec 2021, In: Scientific Reports. 11, 1, p. 1-11 11 p., 13975.

Research output: Contribution to journal › Article › peer-review

Open Access

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Vega—A small, low cost, ground robot for nuclear decommissioning

Bird, B., Nancekievill, M., West, A., Hayman, J., Ballard, C., Jones, W., Ross, S., Wild, T., Scott, T. & Lennox, B., 25 Nov 2021, In: Journal of Field Robotics . 14 p.

Research output: Contribution to journal › Article › peer-review

Open Access

2020

Bio-inspired Artificial Pheromone System for Swarm Robotics Applications

Na, S., Qiu, Y., Turgut, A. E., Ulrich, J., Krajnik, T., Yue, S., Lennox, B. & Arvin, F., 3 Jun 2020, In: Adaptive Behavior.

Research output: Contribution to journal › Article › peer-review

Open Access

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

Hu, J., Bhowmick, P., Arvin, F., Lanzon, A. & Lennox, B., Apr 2020, In: IEEE Robotics and Automation Letters. 5, 2, p. 977-984 8 p.

Research output: Contribution to journal › Article › peer-review

Open Access

Hysteresis Modelling and Feedforward Control of Piezoelectric Actuator Based on Simplified Interval Type-2 Fuzzy System

Li, P., Zhang, D.-F., Hu, J., Lennox, B. & Arvin, F., 2 May 2020, In: Sensors. 20, 9

Research output: Contribution to journal › Article › peer-review

Open Access

Local bearing estimation for a swarm of low-cost miniature robots

Liu, Z., West, C., Lennox, B. & Arvin, F., 10 Jun 2020, In: Sensors. 20, 11, p. 1-23 23 p., 3308.

Research output: Contribution to journal › Article › peer-review

Open Access

Occlusion-Based Coordination Protocol Design for Autonomous Robotic Shepherding Tasks

Hu, J., Turgut, A. E., Krajník, T., Lennox, B. & Arvin, F., 21 Aug 2020, In: IEEE Transactions on Cognitive and Developmental Systems.

Research output: Contribution to journal › Article › peer-review

Open Access

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Simultaneous, robot-compatible γ-ray spectroscopy and imaging of an operating nuclear reactor

Tsitsimpelis, I., West, A., Licata, M., Aspinall, M. D., Jazbec, A., Snoj, L., Martin, P., Lennox, B. & Joyce, M. J., 11 Nov 2020, In: IEEE Sensors Journal. 21, 4, p. 5434-5443 10 p., 9257083.

Research output: Contribution to journal › Article › peer-review

Open Access

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The effects of Total Ionizing Dose irradiation on supercapacitors deployed in nuclear decommissioning environments

Di Buono, A., Green, P., Lennox, B. & Cockbain, N., 17 Jul 2020, (Accepted/In press) In: Journal of Power Sources.

Research output: Contribution to journal › Article › peer-review

Tuning and Sensitivity Analysis of a Hexapod State Estimator

Hakim Khalili, H., Cheah, W., Garcia Nathan, T., Carrasco, J., Watson, S. & Lennox, B., 2020, In: Robotics and Autonomous Systems.

Research output: Contribution to journal › Article › peer-review

Open Access

Use of Robots and Autonomous Systems in the UK

Watson, S., Lennox, B. & Jones, J., Mar 2020, In: Nuclear Industry. 405, p. 77 84 p.

Research output: Contribution to journal › Article

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Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning

Hu, J., Niu, H., Carrasco, J., Lennox, B. & Arvin, F., 1 Dec 2020, In: IEEE Transactions on Vehicular Technology. 69, 12, p. 14413-14423 11 p., 9244647.

Research output: Contribution to journal › Article › peer-review

Open Access

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2019

Advanced Motions for Hexapods

Cheah, W., Hakim Khalili, H., Arvin, F., Green, P., Watson, S. & Lennox, B., 9 Apr 2019, In: International Journal of Advanced Robotic Systems.

Research output: Contribution to journal › Article › peer-review

Open Access

A review of ground-based robotic systems for the characterization of nuclear environments

Tsitsimpelis, I., Taylor, C. J., Lennox, B. & Joyce, M., Mar 2019, In: Progress in Nuclear Energy. 111, p. 109-124 15 p.

Research output: Contribution to journal › Article › peer-review

Open Access

A robot to monitor nuclear facilities: Using autonomous radiation-monitoring assistance to reduce risk and cost

Bird, B., Griffiths, A., Martin, H., Codres, E., Jones, J., Stancu, A., Lennox, B., Watson, S. & Poteau, X., 1 Mar 2019, In: IEEE Robotics and Automation Magazine . 26, 1, p. 35-43 9 p., 8574974.

Research output: Contribution to journal › Article › peer-review

Open Access

Autonomous Void Detection and Characterisation in Point Clouds and Triangular Meshes

Bird, B., Lennox, B., Watson, S. & Wright, T., 1 Aug 2019, In: International Journal of Computational Vision and Robotics. 9, 4, p. 368 - 386

Research output: Contribution to journal › Article › peer-review

Open Access

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

Nancekievill, M., Espinosa Mendoza, J. L., Watson, S., Lennox, B., Jones, A., Joyce, M., Katakura, J.-I., Okumura, K., Kamada, S., Katoh, M. & Nishimura, K., 23 Oct 2019, In: Sensors. 19, 20, 4602.

Research output: Contribution to journal › Article › peer-review

Open Access

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