Caption: 
The team developed an enclosed obstacle course to simulate the potential conditions inside the containment at Fukushima Daiichi. The photo on the left shows the UAS autonomously traveling around an obstacle in the test fixture. The image on the right depicts the original (purple line), actual (blue circles), and upcoming (green circles) flight paths as it travels around the obstacles (red blocks).

Credit: 
Image Courtesy of Southwest Research Institute/UPenn GRASP