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Clearing an orthogonal polygon to find the evaders
, Article Theoretical Computer Science ; Volume 847 , December , 2020 , Pages 175-184 ; Ghodsi, M ; Sharif University of Technology
Elsevier B. V
2020
Abstract
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In the pursuit-evasion problem, a polygonal region is given and a robot called a pursuer tries to find some mobile targets called evaders. The goal of this problem is to design a motion strategy for the pursuer such that it can detect all the evaders. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots (pursuers) each moves back and forth along an orthogonal line segment inside a simple orthogonal polygon P. We assume that P includes unpredictable, moving evaders that have bounded speed. We propose the...