{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T15:00:50Z","timestamp":1777388450218,"version":"3.51.4"},"reference-count":63,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2020,8,4]],"date-time":"2020-08-04T00:00:00Z","timestamp":1596499200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>A group of Urban Search and Rescue (USAR) Unmanned Ground Vehicles (UGVs) works in the city\u2019s 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.<\/jats:p>","DOI":"10.3390\/sym12081297","type":"journal-article","created":{"date-parts":[[2020,8,4]],"date-time":"2020-08-04T10:45:17Z","timestamp":1596537917000},"page":"1297","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Allocation of Radiation Shielding Boards to Protect the Urban Search and Rescue Robots from Malfunctioning in the Radioactive Environments Arising from Decommissioning of the Nuclear Facility"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8660-6104","authenticated-orcid":false,"given":"Yingjie","family":"Zhao","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6613-7403","authenticated-orcid":false,"given":"Yuxian","family":"Zhang","sequence":"additional","affiliation":[{"name":"Quzhou College of Technology, Quzhou 324000, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1197-7082","authenticated-orcid":false,"given":"Zhaoyang","family":"Xie","sequence":"additional","affiliation":[{"name":"College of Nuclear Science and Technology, Harbin Engineering University, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,4]]},"reference":[{"key":"ref_1","first-page":"62301V","article-title":"Performance standards for urban search and rescue robots","volume":"Volume 6230","author":"Messina","year":"2006","journal-title":"Proceedings of the Defense and Security Symposium, 2006"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1007\/s10846-013-9822-x","article-title":"Robotic Urban Search and Rescue: A Survey from the Control Perspective","volume":"72","author":"Liu","year":"2013","journal-title":"J. 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