The complexity of searching a graph
Journal of the ACM (JACM)
Visibility problems for polyhedral terrains
Journal of Symbolic Computation
Visibility-Based Pursuit-Evasion in a Polygonal Environment
WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
A constant-factor approximation algorithm for optimal terrain guarding
SODA '05 Proceedings of the sixteenth annual ACM-SIAM symposium on Discrete algorithms
Journal of the ACM (JACM)
Guarding galleries and terrains
Information Processing Letters
An annotated bibliography on guaranteed graph searching
Theoretical Computer Science
Polynomial time approximation algorithms for multi-constrained QoS routing
IEEE/ACM Transactions on Networking (TON)
Introduction to Algorithms, Third Edition
Introduction to Algorithms, Third Edition
Algorithms and complexity results for pursuit-evasion problems
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Sweeping a terrain by collaborative aerial vehicles
Proceedings of the 21st ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems
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We propose algorithms for computing optimal trajectories of a group of flying observers (such as helicopters or UAVs) searching for a lost child in a hilly terrain. Very few assumptions are made about the speed or direction of the child's motion and whether it might (either deliberately or accidentally) try to avoid being found. This framework can also be applied to seekers searching for hostile evaders, such as smugglers/criminals, or friendly evaders, such as lost hikers. Based on the features of the area of the terrain where the pursuit takes place, and the visibility and motion characteristics of the UAVs, we show how to plan their synchronized trajectories in a way that maximizes the likelihood of a successful pursuit, while minimizing their battery or fuel usage, which may, in turn, enable a longer pursuit. Our algorithm explores useful I/O-efficient data structures and branch-cutting (search pruning) techniques to achieve further speedup by limiting the storage requirements and the total number of graph nodes searched, respectively.