  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.
