{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,6]],"date-time":"2026-04-06T11:08:35Z","timestamp":1775473715758,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,7,22]],"date-time":"2024-07-22T00:00:00Z","timestamp":1721606400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Euratom research and training programme 2019\u20132020","award":["945335"],"award-info":[{"award-number":["945335"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Current operations involving Dismantling and Decommissioning (D&amp;D) in nuclear and other harsh environments rely on manual inspection and assessment of the sites, exposing human operators to potentially dangerous situations. This work presents a reconfigurable Autonomous Mobile Robot (AMR) able to mount a wide range of nuclear sensors for flexible and modular inspection tasks in these operations. This AMR is part of the CLEANDEM solution, which uses Unmanned Ground Vehicles (UGVs), nuclear sensors, and a Digital Twin to facilitate a tool for improving D&amp;D operations in nuclear sites. Both the AMR used as a UGV and the system have been successfully tested in real nuclear sites, showing that these tools can greatly aid in operations management and hazard reduction.<\/jats:p>","DOI":"10.3390\/robotics13070110","type":"journal-article","created":{"date-parts":[[2024,7,22]],"date-time":"2024-07-22T17:36:04Z","timestamp":1721669764000},"page":"110","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Reconfigurable UGV for Modular and Flexible Inspection Tasks in Nuclear Sites"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6119-8987","authenticated-orcid":false,"given":"Ivan","family":"Villaverde","sequence":"first","affiliation":[{"name":"TECNALIA, Basque Research and Technology Alliance (BRTA), Mikeletegi Pasealekua 7, 20009 Donostia-San Sebasti\u00e1n, Gipuzkoa, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4553-0174","authenticated-orcid":false,"given":"Arkaitz","family":"Urquiza","sequence":"additional","affiliation":[{"name":"TECNALIA, Basque Research and Technology Alliance (BRTA), Mikeletegi Pasealekua 7, 20009 Donostia-San Sebasti\u00e1n, Gipuzkoa, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8268-4562","authenticated-orcid":false,"given":"Jose Luis","family":"Out\u00f3n","sequence":"additional","affiliation":[{"name":"TECNALIA, Basque Research and Technology Alliance (BRTA), Mikeletegi Pasealekua 7, 20009 Donostia-San Sebasti\u00e1n, Gipuzkoa, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. 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