The attached patch fixes the problem for me. From the patch comments:

External programs triggered by events (via RUN=) will inherit udev's
signal mask, which is set to block all but SIGALRM. For most utilities,
this is OK, but if we start daemons from RUN=, we run into trouble
(especially as SIGCHLD is blocked).

This change saves the original sigmask when udev starts, and restores it
just before we exec() the external command.

Signed-off-by: Jeremy Kerr <[email protected]>

I'm not a udev hacker, so not sure if this is the proper fix. I've sent
it to linux-hotplug for comment.

** Attachment added: "Patch to restore signal mask before execing external 
processes"
   
http://launchpadlibrarian.net/31357893/0001-Restore-signal-mask-before-executing-event-RUN-comma.patch

-- 
sshd zombie processes and strange behavior after karmic upgrade
https://bugs.launchpad.net/bugs/407428
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