An efficient and simple motion planning algorithm for a ladder amidst polygonal barriers
Journal of Algorithms
Art gallery theorems and algorithms
Art gallery theorems and algorithms
The complexity of searching a graph
Journal of the ACM (JACM)
Min cut is NP-complete for edge weighted trees
Theoretical Computer Science - Thirteenth International Colloquim on Automata, Languages and Programming, Renne
Searching for a mobile intruder in a polygonal region
SIAM Journal on Computing
The robot localization problem
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Efficient exact geometric computation made easy
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Simple algorithms for searching a polygon with flashlights
Information Processing Letters
Robot Motion Planning
Visibility-Based Pursuit-Evasion in a Polygonal Region by a Searcher
ICALP '01 Proceedings of the 28th International Colloquium on Automata, Languages and Programming,
Randomized Pursuit-Evasion in Graphs
Combinatorics, Probability and Computing
Collaborative execution of exploration and tracking using move value estimation for robot teams (mvert)
Randomized pursuit-evasion in a polygonal environment
IEEE Transactions on Robotics
Cooperative Observation of Multiple Moving Targets: an algorithm and its formalization
International Journal of Robotics Research
Efficient Multi-robot Search for a Moving Target
International Journal of Robotics Research
Coordinated pursuer control using particle filters for autonomous search-and-capture
Robotics and Autonomous Systems
A Local Interaction Based Multi-robot Hunting Approach with Sensing and Modest Communication
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
UAV target tracking using an adversarial iterative prediction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Lion and man game in the presence of a circular obstacle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Strategy generation in multi-agent imperfect-information pursuit games
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Toward simulating realistic pursuit-evasion using a roadmap-based approach
MIG'10 Proceedings of the Third international conference on Motion in games
Brief paper: Visibility maintenance via controlled invariance for leader-follower vehicle formations
Automatica (Journal of IFAC)
Environment characterization for non-recontaminating frontier-based robotic exploration
PRIMA'11 Proceedings of the 14th international conference on Agents in Principle, Agents in Practice
Roadmap-Based level clearing of buildings
MIG'11 Proceedings of the 4th international conference on Motion in Games
A graph search algorithm for indoor pursuit/evasion
Mathematical and Computer Modelling: An International Journal
Journal of Intelligent and Robotic Systems
Capture bounds for visibility-based pursuit evasion
Proceedings of the twenty-ninth annual symposium on Computational geometry
Multi-robot repeated area coverage
Autonomous Robots
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We study the visibility-based pursuit-evasion problem, in which one or more searchers must move through a given environment so as to guarantee detection of any and all evaders, which can move arbitrarily fast. Our goal is to develop techniques for coordinating teams of robots to execute this task in application domains such as clearing a building, for reasons of security or safety. To this end, we introduce a new class of searcher, the φ-searcher, which can be readily instantiated as a physical mobile robot. We present a detailed analysis of the pursuit-evasion problem using φ-searchers. We present the first complete search algorithm for a single φ-searcher, show how this algorithm can be extended to handle multiple searchers, and give examples of computed trajectories.