Robotics Research Paper

Jul 4th, 2015
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32IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 1, FEBRUARY 2010Pursuit-Evasion on Trees by Robot TeamsAndreas Kolling, Student Member, IEEE, and Stefano Carpin, Member, IEEEAbstractWe present Graph-Clear: a novel pursuit-evasionproblem on graphs which models the detection of intruders incomplex indoor environments by robot teams. The environment isrepresented by a graph, and a robot team can execute sweep andblock actions on vertices and edges, respectively. A sweep action detects intruders in a vertex and represents the capability of the robotteam to detect intruders in the region associated to the vertex. Similarly, a block action prevents intruders from crossing an edge andrepresents the capability to detect intruders as they move betweenregions. Both actions may require multiple robots to be executed.A strategy is a sequence of block and sweep actions to detect all intruders. When instances of Graph-Clear are being solved, the goalis to determine optimal strategies, i.e., strategies that use the leastnumber of robots. We prove that for the general case of graphs, theproblem of computation of optimal strategies is NP-hard. Next, forthe special case of trees, we provide a polynomial-time algorithm.The algorithm ensures that throughout the execution of the strategy, all cleared vertices form a connected subtree, and we showthat it produces optimal strategies.Index TermsDistributed robot systems, pursuit-evasion games,surveillance systems.I. INTR

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