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Clearing an orthogonal polygon to find the evaders
Mahdavi, S. S ; Sharif University of Technology | 2020
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- Type of Document: Article
- DOI: 10.1016/j.tcs.2020.10.003
- Publisher: 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 first motion-planning algorithm for a group of robots, assuming that they move along the pre-located line segments with a constant speed to detect all the evaders with bounded speed. Also, we prove an upper bound for the length of the paths that all pursuers move in the proposed algorithm. © 2020 Elsevier B.V
- Keywords:
- Art gallery ; Computational geometry ; Motion planning ; Multi robot systems ; Pursuit evasion ; Sliding robot ; Multipurpose robots ; Bounded-speed ; Constant speed ; Mobile targets ; Motion planning algorithms ; Motion strategy ; Multi-robot systems ; Polygonal regions ; Pursuit evasion problem ; Robot programming
- Source: Theoretical Computer Science ; Volume 847 , December , 2020 , Pages 175-184
- URL: https://www.sciencedirect.com/science/article/abs/pii/S0304397520305648