As already mentioned, it is being done in various ways. I think this gives a good overview:
[https://en.wikipedia.org/wiki/Atomic_battery](https://en.wikipedia.org/wiki/Atomic_battery)
Regarding RTGs: Their big advantage over the usual reactors is mobility and size. This however means that you want to use fuel that has a very high energy density. So you can fit it onto a space probe for example.
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