The complexity of searching a graph
Journal of the ACM (JACM)
Min cut is NP-complete for edge weighted trees
Theoretical Computer Science - Thirteenth International Colloquim on Automata, Languages and Programming, Renne
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Efficient exact geometric computation made easy
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Simple algorithms for searching a polygon with flashlights
Information Processing Letters
Collaborative execution of exploration and tracking using move value estimation for robot teams (mvert)
Coordinated exploration of unknown labyrinthine environments applied to the pursuit evasion problem
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Bitbots: simple robots solving complex tasks
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Tracking under the nonholonomic constraint using cubic navigation laws
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Agent-based coordination of human-multirobot teams in complex environments
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: Industry track
Resolving the pursuit evasion problem in known environment using graph theory
International Journal of Bio-Inspired Computation
Algorithms and complexity results for graph-based pursuit evasion
Autonomous Robots
A graph search algorithm for indoor pursuit/evasion
Mathematical and Computer Modelling: An International Journal
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We study a form of the pursuit-evasion problem, in which one or more searchers must move through a given environment so as to guarantee detection of any and all evaders, which can move arbitrarily fast. Our goal is to develop techniques for coordinating teams of robots to execute this task in application domains such as clearing a building, for reasons of security or safety. To this end, we introduce a new class of searcher, the Φ-searcher, which can be readily instantiated as a physical mobile robot. We present a detailed analysis of the pursuit-evasion problem using Φ-searchers. We show that computing the minimum number of Φ-searchers required to search a given environment is NP-hard, and present the first complete search algorithm for a single Φ-searcher. We show how this algorithm can be extended to handle multiple searchers, and give examples of computed trajectories.