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)
Planning, learning and coordination in multiagent decision processes
TARK '96 Proceedings of the 6th conference on Theoretical aspects of rationality and knowledge
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
Randomized Pursuit-Evasion with Local Visibility
SIAM Journal on Discrete Mathematics
Improving adjustable autonomy strategies for time-critical domains
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Visibility-based pursuit-evasion with limited field of view
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Algorithms and complexity results for pursuit-evasion problems
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Modeling and analysis of task complexity in single-operator multi-robot teams
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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Room clearing, in which building surveillance is conducted to search for criminals, continues to be a dangerous and difficult problem in urban settings, for both the military as well as for police. In a typical setting, an unknown number of hostile forces may be located in a building, and they may be armed. Furthermore, there may be innocent civilians. The goal of the friendly units is to enter the room and secure it, but without loss of life of friendly forces, hostile forces, and most especially of innocent civilians. It would be beneficial to allow robots to be a part of the friendly team, however it is very challenging to have robots that do not either slow down or obstruct their human teammate. This is especially difficult since nearly all robots in use by the military and police today are tele-operated. In this paper, we describe work we have developed in cooperation with the army, for the room clearing domain. We constructed an algorithm whereby multiple agents, in the form of robots, can accomplish a room clearing task. We augmented the agent algorithms to introduce Adjustable Autonomy, allowing cooperation with humans. We describe simulated results of the algorithm on building maps, and furthermore we describe how we intend to next conduct hardware tests, and eventual plans to field the system. This agent-based solution has great potential to increase the acceptance and leverage of robotics in complex environments.