A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem

  title={A Visibility Roadmap Sampling Approach for a Multi-Robot Visibility-Based Pursuit-Evasion Problem},
  author={Trevor Olsen and Anne M. Tumlin and Nicholas M. Stiffler and Jason M. O’Kane},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for this problem takes time doubly exponential in the number of robots. However, sampling-based techniques have shown promise in generating feasible solutions in these scenarios. One of the primary drawbacks to employing existing sampling-based methods is that… 
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