Theoretical Computer Science
The complexity of searching a graph
Journal of the ACM (JACM)
On minimizing width in linear layouts
Discrete Applied Mathematics
Monotonicity in graph searching
Journal of Algorithms
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)
The vertex separation and search number of a graph
Information and Computation
SCG '97 Proceedings of the thirteenth annual symposium on Computational geometry
Approximation algorithms
Capture of an intruder by mobile agents
Proceedings of the fourteenth annual ACM symposium on Parallel algorithms and architectures
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
Introduction to Algorithms
On the domination search number
Discrete Applied Mathematics
Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization
International Journal of Robotics Research
An annotated bibliography on guaranteed graph searching
Theoretical Computer Science
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Surveillance strategies for target detection with sweep lines
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
GSST: anytime guaranteed search
Autonomous Robots
Improving the Efficiency of Clearing with Multi-agent Teams
International Journal of Robotics Research
Toward simulating realistic pursuit-evasion using a roadmap-based approach
MIG'10 Proceedings of the Third international conference on Motion in games
Connected searching of weighted trees
Theoretical Computer Science
Search and pursuit-evasion in mobile robotics
Autonomous Robots
Algorithms and complexity results for graph-based pursuit evasion
Autonomous Robots
Environment characterization for non-recontaminating frontier-based robotic exploration
PRIMA'11 Proceedings of the 14th international conference on Agents in Principle, Agents in Practice
Roadmap-Based level clearing of buildings
MIG'11 Proceedings of the 4th international conference on Motion in Games
Hierarchical visibility for guaranteed search in large-scale outdoor terrain
Autonomous Agents and Multi-Agent Systems
A cooperative multi-agent robotics system: Design and modelling
Expert Systems with Applications: An International Journal
Multi-UAV motion planning for guaranteed search
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
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We present Graph-Clear: a novel pursuit-evasion problem on graphs which models the detection of intruders in complex indoor environments by robot teams. The environment is represented by a graph, and a robot team can execute sweep and block actions on vertices and edges, respectively. A sweep action detects intruders in a vertex and represents the capability of the robot team to detect intruders in the region associated to the vertex. Similarly, a block action prevents intruders from crossing an edge and represents the capability to detect intruders as they move between regions. Both actions may require multiple robots to be executed. A strategy is a sequence of block and sweep actions to detect all intruders. When instances of Graph-Clear are being solved, the goal is to determine optimal strategies, i.e., strategies that use the least number of robots. We prove that for the general case of graphs, the problem of computation of optimal strategies is NP-hard. Next, for the special case of trees, we provide a polynomial-time algorithm. The algorithm ensures that throughout the execution of the strategy, all cleared vertices form a connected subtree, and we show that it produces optimal strategies.