Fig. 1. Map of obstacles to a hypothetical nuclear accident site: (a) reference terrain of the Fukushima Nuclear Power Plant; (b) simulated raster map (color online)

Fig. 2. Normalized radiation dose field calculated by Monte Carlo simulation (color online)

Fig. 3. Diagram of lateral connections of neurons

Fig. 4. Eight bit movement diagram

Fig. 5. Flow chart of unit decomposition method

Fig. 6. Cover times map (color online)

Fig. 7. Real-time dose metrics variation chart: (a) real-time dose rate variation chart; (b) real-time cumulative dose variation chart

Fig. 8. Mobile unit path graph (color online)

Fig. 9. Cow-tillage partition diagram

Fig. 10. Arch overlay strategy diagram

Fig. 11. Flowchart of the algorithm for adding cumulative dose monitoring

Fig. 12. Cover times diagram of 4 units simulation(color online)

Fig. 13. Real-time dose metrics variation chart of 4 units simulation: (a) real-time dose rate variation chart; (b) real-time cumulative dose variation chart (color online)

Fig. 14. Path diagram of 4 units simulation (color online)

Fig. 15. Cover times diagram of 8 units simulation(color online)

Fig. 16. Real-time dose metrics variation chart of 8 units simulation: (a) real-time dose rate variation chart; (b) real-time cumulative dose variation chart (color online)

Fig. 17. Path diagram of 8 units simulation (color online)