Art gallery theorems and algorithms
Art gallery theorems and algorithms
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
OBPRM: an obstacle-based PRM for 3D workspaces
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Roadmap-Based Flocking for Complex Environments
PG '02 Proceedings of the 10th Pacific Conference on Computer Graphics and Applications
Better group behaviors in complex environments using global roadmaps
ICAL 2003 Proceedings of the eighth international conference on Artificial life
Randomized pursuit-evasion with limited visibility
SODA '04 Proceedings of the fifteenth annual ACM-SIAM symposium on Discrete algorithms
Visibility-based Pursuit-evasion with Limited Field of View
International Journal of Robotics Research
Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization
International Journal of Robotics Research
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
Toward simulating realistic pursuit-evasion using a roadmap-based approach
MIG'10 Proceedings of the Third international conference on Motion in games
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In this paper we describe a roadmap-based approach for a multi-agent search strategy to clear a building or multi-story environment. This approach utilizes an encoding of the environment in the form of a graph (roadmap) that is used to encode feasible paths through the environment. The roadmap is partitioned into regions, e.g., one per level, and we design region-based search strategies to cover and clear the environment. We can provide certain guarantees within this roadmap-based framework on coverage and the number of agents needed. Our approach can handle complex and realistic environments where many approaches are restricted to simple 2D environments.