In this paper, it is proposed to locate multiple unknown radioactive sources within a certain time limit through particle filtering and Voronoi partitioning. Firstly, with each robot as a Voronoi centroid, the entire area is partitioned. Then, the robots conduct source search concurrently through particle filtering. When all the robots complete the process of one-particle filtering, the iteration ends and the next one begins until the search for the radioactive source is terminated. Finally, experiment is conducted to demonstrate the efficiency and accuracy of the proposed method.
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