A group of Urban Search and Rescue (USAR) Unmanned Ground Vehicles (UGVs) works in the city’s dangerous places that are caused by natural disasters or the decommissioning of nuclear facilities such as the nuclear power plant. Consider the multi sensor platform that the USAR UGV is equipped with, protecting the sensors from the danger that dwells in the working environments is highly related to the success of the USAR mission. The radioactive working environments due to the diffusion of the radioactive materials during the decommissioning of the nuclear facilities are proposed in this work. Radiation shielding boards are used to protect the sensors by installing them on the UGV. Generally, the more shielding boards installed on the UGV, the lower the probability of the sensor malfunctioning. With a large number of UGVs that are used in missions, a large number of shielding boards are needed. Considering the cost of the boards, a conflict between the finite budget and the best protection for the UGV swarm occurs. Due to differences in environments and working times, an asymmetric allocation of shielding boards might protect the UGV swarm better than that by allocating evenly. To minimize the absorption radiation doses, two methods including competitive equilibrium analysis and integer linear programming are proposed. The performances that result from the allocation of the shielding boards by two methods with different budgets are studied.

中文翻译：

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分配辐射屏蔽板以保护城市搜救机器人在核设施退役引起的放射性环境中不发生故障

一组城市搜救（USAR）无人地面车辆（UGV）在城市因自然灾害或核电站等核设施退役而造成的危险场所工作。考虑到USAR UGV配备的多传感器平台，保护传感器免受工作环境中存在的危险与USAR任务的成功密切相关。本文提出了核设施退役过程中放射性物质扩散引起的放射性工作环境。辐射屏蔽板通过安装在 UGV 上来保护传感器。一般来说，UGV上安装的屏蔽板越多，传感器发生故障的概率就越低。随着大量用于任务的 UGV，需要大量的屏蔽板。考虑到电路板的成本，有限的预算和 UGV 群的最佳保护之间发生了冲突。由于环境和工作时间的差异，屏蔽板的不对称分配可能比平均分配更好地保护UGV群。为了最小化吸收辐射剂量，提出了两种方法，包括竞争平衡分析和整数线性规划。研究了通过两种不同预算的方法分配屏蔽板所产生的性能。屏蔽板的不对称分配可能比均匀分配更好地保护 UGV 群。为了最小化吸收辐射剂量，提出了两种方法，包括竞争平衡分析和整数线性规划。研究了通过两种不同预算的方法分配屏蔽板所产生的性能。屏蔽板的不对称分配可能比均匀分配更好地保护 UGV 群。为了最小化吸收辐射剂量，提出了两种方法，包括竞争平衡分析和整数线性规划。研究了通过两种不同预算的方法分配屏蔽板所产生的性能。