The complexity of searching a graph
Journal of the ACM (JACM)
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
Recontamination does not help to search a graph
Journal of the ACM (JACM)
Randomized Pursuit-Evasion in Graphs
ICALP '02 Proceedings of the 29th International Colloquium on Automata, Languages and Programming
Randomized Pursuit-Evasion with Local Visibility
SIAM Journal on Discrete Mathematics
Randomized pursuit-evasion in a polygonal environment
IEEE Transactions on Robotics
Surveillance strategies for target detection with sweep lines
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
Improving the Efficiency of Clearing with Multi-agent Teams
International Journal of Robotics Research
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This paper introduces a probabilistic model for multirobot surveillance applications with limited range and possibly faulty sensors. Sensors are described with a footprint and a false negative probability, i.e. the probability of failing to report a target within their sensing range. The model implements a probabilistic extension to our formerly developed deterministic approach for modeling surveillance tasks in large environments with large robot teams known as Graph-Clear. This extension leads to a new algorithm that allows to answer new design and performance questions, namely 1) how many robots are needed to obtain a certain confidence that the environment is free from intruders, and 2) given a certain number of robots, how should they coordinate their actions to minimize their failure rate.