The complexity of searching a graph
Journal of the ACM (JACM)
Monotonicity in graph searching
Journal of Algorithms
Recontamination does not help to search a graph
Journal of the ACM (JACM)
Generating random spanning trees more quickly than the cover time
STOC '96 Proceedings of the twenty-eighth annual ACM symposium on Theory of computing
Capture of an intruder by mobile agents
Proceedings of the fourteenth annual ACM symposium on Parallel algorithms and architectures
Fugitive-Search Games on Graphs and Related Parameters
WG '94 Proceedings of the 20th International Workshop on Graph-Theoretic Concepts in Computer Science
Robot and Sensor Networks for First Responders
IEEE Pervasive Computing
Planning Algorithms
A market-based framework for tightly-coupled planned coordination in multirobot teams
A market-based framework for tightly-coupled planned coordination in multirobot teams
Probabilistic planning for robotic exploration
Probabilistic planning for robotic exploration
An annotated bibliography on guaranteed graph searching
Theoretical Computer Science
Decontamination of hypercubes by mobile agents
Networks - Games, Interdiction, and Human Interaction Problems on Networks
Efficient Multi-robot Search for a Moving Target
International Journal of Robotics Research
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
Sweeping graphs with large clique number
ISAAC'04 Proceedings of the 15th international conference on Algorithms and Computation
Cleaning an arbitrary regular network with mobile agents
ICDCIT'05 Proceedings of the Second international conference on Distributed Computing and Internet Technology
Connected treewidth and connected graph searching
LATIN'06 Proceedings of the 7th Latin American conference on Theoretical Informatics
Randomized pursuit-evasion in a polygonal environment
IEEE Transactions on Robotics
A graph search algorithm for indoor pursuit/evasion
Mathematical and Computer Modelling: An International Journal
Delaunay refinement algorithms for triangular mesh generation
Computational Geometry: Theory and Applications
Improving the Efficiency of Clearing with Multi-agent Teams
International Journal of Robotics Research
Search and pursuit-evasion in mobile robotics
Autonomous Robots
Hierarchical visibility for guaranteed search in large-scale outdoor terrain
Autonomous Agents and Multi-Agent Systems
Multi-UAV motion planning for guaranteed search
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Hi-index | 0.00 |
We present Guaranteed Search with Spanning Trees (GSST), an anytime algorithm for multi-robot search. The problem is as follows: clear the environment of any adversarial target using the fewest number of searchers. This problem is NP-hard on arbitrary graphs but can be solved in linear-time on trees. Our algorithm generates spanning trees of a graphical representation of the environment to guide the search. At any time, spanning tree generation can be stopped yielding the best strategy so far. The resulting strategy can be modified online if additional information becomes available. Though GSST does not have performance guarantees after its first iteration, we prove that several variations will find an optimal solution given sufficient runtime. We test GSST in simulation and on a human-robot search team using a distributed implementation. GSST quickly generates clearing schedules with as few as 50% of the searchers used by competing algorithms.