  This paper overviews certain radiation detection, perception, and planning
challenges for nuclearized robotics that aim to support the waste management
and decommissioning mission. To enable the autonomous monitoring, inspection
and multi-modal characterization of nuclear sites, we discuss important
problems relevant to the tasks of navigation in degraded visual environments,
localizability-aware exploration and mapping without any prior knowledge of the
environment, as well as robotic radiation detection. Future contributions will
focus on each of the relevant problems, will aim to deliver a comprehensive
multi-modal mapping result, and will emphasize on extensive field evaluation
and system verification.
