The complexity of searching a graph
Journal of the ACM (JACM)
Capture of an intruder by mobile agents
Proceedings of the fourteenth annual ACM symposium on Parallel algorithms and architectures
Robot and Sensor Networks for First Responders
IEEE Pervasive Computing
Multi-objective exploration and search for autonomous rescue robots: Research Articles
Journal of Field Robotics
Probabilistic planning for robotic exploration
Probabilistic planning for robotic exploration
An annotated bibliography on guaranteed graph searching
Theoretical Computer Science
Efficient Multi-robot Search for a Moving Target
International Journal of Robotics Research
Efficient planning of informative paths for multiple robots
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Algorithms and complexity results for pursuit-evasion problems
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
GSST: anytime guaranteed search
Autonomous Robots
Delaunay refinement algorithms for triangular mesh generation
Computational Geometry: Theory and Applications
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
Collaborative path planning for event search and exploration in mixed sensor networks
International Journal of Robotics Research
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We present an anytime algorithm for coordinating multiple autonomous searchers to find a potentially adversarial target on a graphical representation of a physical environment. This problem is closely related to the mathematical problem of searching for an adversary on a graph. Prior methods in the literature treat multi-agent search as either a worst-case problem (i.e. clear an environment of an adversarial evader with potentially infinite speed), or an average-case problem (i.e. minimize average capture time given a model of the targetâ聙聶s motion). Both of these problems have been shown to be NP-hard, and optimal solutions typically scale exponentially in the number of searchers. We propose treating search as a resource allocation problem, which leads to a scalable anytime algorithm for generating schedules that clear the environment of a worst-case adversarial target and have good average-case performance considering a non-adversarial motion model. Our algorithm yields theoretically bounded average-case performance and allows for online and decentralized operation, making it applicable to real-world search tasks. We validate our proposed algorithm through a large number of experiments in simulation and with a team of robot and human searchers in an office building.