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Search for smart evaders with sweeping agents

Published online by Cambridge University Press:  20 April 2021

Roee M. Francos Open the ORCID record for Roee M. Francos [Opens in a new window]  and
Alfred M. Bruckstein
Roee M. Francos*
Affiliation:
Faculty of Computer Science, Technion-Israel Institute of Technology, Haifa 32000, Israel
Alfred M. Bruckstein
Affiliation:
Faculty of Computer Science, Technion-Israel Institute of Technology, Haifa 32000, Israel
*
*Corresponding author. Email: roee.francos@cs.technion.ac.il
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Abstract

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Suppose in a given planar circular region, there are smart mobile evaders and we want to find them using sweeping agents. We assume the sweeping agents are in a line formation whose total length is predetermined. We propose procedures for designing a sweeping process that ensures the successful completion of the task, thereby deriving conditions on the sweeping velocity of the linear formation and its path. Successful completion of the task means that evaders with a given limit on their velocity cannot escape the sweeping agents. We present results on the search time given the initial conditions.

Keywords

Intelligent autonomous systemsMulti-agentsMobile robotsMotion and path planning for multi-agent systemsPlanning and decision-making for multi-agent systemsApplications of multi-agent systems
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2210 - 2245
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited.
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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