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Vega has been developed specifically to support characterization and inspection operations, such as 2D and 3D mapping, radiation scans and sample retrieval. The design and construction methodology that was followed to develop the robot is described and its capabilities detailed. Vega was designed to provide flexibility, both in software and hardware, is controlled via tele\u2010operation, although it can be extended to semi and full autonomy, and can be used in either tethered or untethered configurations. A version of the tethered robot was designed for extreme radiation tolerance, utilizing relay electronics and removing active electronic systems. Vega can be outfitted with a multitude of sensors and actuators, including gamma spectrometers, alpha\/beta radiation sensors, LiDARs and robotic arms. To demonstrate its flexibility, a 5 degree\u2010of\u2010freedom manipulator has been successfully integrated onto Vega, facilitating deployments where handling is required. To assess the tolerance of Vega to the levels of ionizing radiation that may be found in decommissioning environments, its individual components were irradiated, allowing estimates to be made of the length of time Vega would be able to continue to operate in nuclear environments. Vega has been successfully deployed in an active environment at the Dounreay nuclear site in the UK, deployed in nonactive environments at the Atomic Weapons Establishment, and demonstrated to many other organizations in the UK nuclear industry including Sellafield Ltd, with the goal of moving to active deployments in the future.<\/jats:p>","DOI":"10.1002\/rob.22048","type":"journal-article","created":{"date-parts":[[2021,11,26]],"date-time":"2021-11-26T09:54:46Z","timestamp":1637920486000},"page":"232-245","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Vega\u2014A small, low cost, ground robot for nuclear decommissioning"],"prefix":"10.1002","volume":"39","author":[{"given":"Benjamin","family":"Bird","sequence":"first","affiliation":[{"name":"Robotics and Autonomous Systems Createc UK"}]},{"given":"Matthew","family":"Nancekievill","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, School of Engineering University of Manchester Manchester UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4553-8640","authenticated-orcid":false,"given":"Andrew","family":"West","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, School of Engineering University of Manchester Manchester UK"}]},{"given":"Jim","family":"Hayman","sequence":"additional","affiliation":[{"name":"School of Physics University of Bristol Bristol UK"}]},{"given":"Chris","family":"Ballard","sequence":"additional","affiliation":[{"name":"Robotics and AI Sellafield Ltd Risley UK"}]},{"given":"Will","family":"Jones","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Atomic Weapons Establishment Berkshire UK"}]},{"given":"Shaun","family":"Ross","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Atomic Weapons Establishment Berkshire UK"}]},{"given":"Toby","family":"Wild","sequence":"additional","affiliation":[{"name":"Robotics and Autonomous Systems Atomic Weapons Establishment Berkshire UK"}]},{"given":"Tom","family":"Scott","sequence":"additional","affiliation":[{"name":"School of Physics University of Bristol Bristol UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0905-8324","authenticated-orcid":false,"given":"Barry","family":"Lennox","sequence":"additional","affiliation":[{"name":"Department of Electrical and Electronic Engineering, School of Engineering University of Manchester Manchester UK"}]}],"member":"311","published-online":{"date-parts":[[2021,11,25]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"crossref","unstructured":"Balasuriya B. 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