Pursuit-Evasion on Trees by Robot Teams

@article{Kolling2010PursuitEvasionOT,
  title={Pursuit-Evasion on Trees by Robot Teams},
  author={Andreas Kolling and Stefano Carpin},
  journal={IEEE Transactions on Robotics},
  year={2010},
  volume={26},
  pages={32-47}
}
We present graph-clear: a novel pursuit-evasion problem on graphs which models the detection of intruders in complex indoor environments by robot teams. The environment is represented by a graph, and a robot team can execute sweep and block actions on vertices and edges, respectively. A sweep action detects intruders in a vertex and represents the capability of the robot team to detect intruders in the region associated to the vertex. Similarly, a block action prevents intruders from crossing… CONTINUE READING
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