The complexity of searching a graph
Journal of the ACM (JACM)
The design and analysis of spatial data structures
The design and analysis of spatial data structures
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)
Capture of an intruder by mobile agents
Proceedings of the fourteenth annual ACM symposium on Parallel algorithms and architectures
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Real-time localization and elevation mapping within urban search and rescue scenarios: Field Reports
Journal of Field Robotics
Speeding up moving-target search
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
An annotated bibliography on guaranteed graph searching
Theoretical Computer Science
Partial pathfinding using map abstraction and refinement
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 1
Algorithms and complexity results for pursuit-evasion problems
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Evaluating strategies for running from the cops
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Algorithm for computer control of a digital plotter
IBM Systems Journal
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Pursuit-evasion on trees by robot teams
IEEE Transactions on Robotics
International Journal of Robotics Research
GSST: anytime guaranteed search
Autonomous Robots
The paradoxical success of fuzzy logic
AAAI'93 Proceedings of the eleventh national conference on Artificial intelligence
Connected searching of weighted trees
MFCS'10 Proceedings of the 35th international conference on Mathematical foundations of computer science
Sweeping graphs with large clique number
ISAAC'04 Proceedings of the 15th international conference on Algorithms and Computation
Multi-UAV motion planning for guaranteed search
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
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Searching for moving targets in large environments is a challenging task that is relevant in several problem domains, such as capturing an invader in a camp, guarding security facilities, and searching for victims in large-scale search and rescue scenarios. The guaranteed search problem is to coordinate the search of a team of agents to guarantee the discovery of all targets. In this paper we present a self-contained solution to this problem in 2.5D real-world domains represented by digital elevation models (DEMs). We introduce hierarchical sampling on DEMs for selecting heuristically the close to minimal set of locations from which the entire surface of the DEM can be guarded. Locations are utilized to form a search graph on which search strategies for mobile agents are computed. For these strategies schedules are derived which include agent paths that are directly executable in the terrain. Presented experimental results demonstrate the performance of the method. The practical feasibility of our approach has been validated during a field experiment at the Gascola robot training site where teams of humans equipped with iPads successfully searched for adversarial and omniscient evaders. The field demonstration is the largest-scale implementation of a guaranteed search algorithm to date.