Based on the evaluation of vehicle residual ability, a mathematical model of multiple vehicles coordinated target assignment had been built.

建立了基于能力裕度评价的多机协同目标分配问题的数学模型。

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A model of a comprehensive evaluation of USAR team ability is further established with mathematical method, which emphasizes on the determination of the weight of each index in the index system.

在此基础上，运用数学方法建立了综合评价模型，重点在于确定评价模型中各指标的权重。

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