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...ibility regions and then uses an information space approach to develop complete algorithms that guarantee capture in 1-searchable graphs. Gerkey applied these ideas to searchers with limited sensing (=-=Gerkey et al., 2006-=-). For a single pursuer, these algorithms are guaranteed to find a solution if one exists. When scaled to multiple pursuers, however, they lose this property. Additionally, these algorithms are diffic...

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... many standard test problems and faster by many times on some. I. INTRODUCTION Target tracking is an important task for autonomous robots and has attracted considerable attention in recent years [1], =-=[3]-=-, [4], [5], [12], [13], [14]. In the target tracking problem, we construct motion strategies for a robot equipped with visual sensors so that it can effectively track a moving target, despite obstruct...

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...sor, i.e. a sensor capable only of detecting discontinuities [13]. On the more applied side, the formerly cited work on CMOMMT by Parker [11] set a milestone in the field. More recently Gerkey at al. =-=[3]-=- describe an implementation of the visibility based pursuit evasion problem on a robot with limited field of view. Researchers in graph theory also investigated problems related to graph search. Three...

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...ee spaces. Complete algorithms have been described for searchers having either 1 or 2 “flashlights” (Lee et al., 2002), omnidirectional vision (Guibas et al., 1999), and limited field-of-view vision (=-=Gerkey et al., 2004-=-). Randomized pursuit algorithms have also been studied, in both discrete graphs (Adler et al., 2003) and polygonal free spaces (Isler et al., 2003). 3. Algorithm The Parish algorithm coordinates a mu...

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... gap sensor, i.e. a sensor only capable of detecting discontinuities, can detect an unpredictable target that moves with unbounded speed ina simply-connected environment. More recently Gerkey et al. =-=[8]-=- address the visibility based pursuit problem considering a robot with limited field of view and showing also results involving practical experiments. III. PROBLEM DESCRIPTION Before introducing the p...

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...fications that make the domain much less rich than the security sweep domain. Researchers frequently assume a completely known environment [36, 37, 38, 39], permit only single searchers [40], or both =-=[34, 35, 41, 42, 43]-=-. The exception is work by Kim et al. [44] in which unmanned ground and air vehicles pursue an embodied evader in an unknown environment. The aerial vehicle scans the ground for the evader and, upon d...

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...on of the targets’ poses and their subsequent actions, it has to reason about its belief of their poses when planning to keep them well-localized. Traditionally, although targetsearch algorithms [1], =-=[2]-=-, [3] necessarily involve planning under uncertainty, target-following algorithms [4], [5], [6] typically focus on performing accurate belief updating and data association, rather than tackling the de...

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...mplexity in search related problems. [10] divides a structure into regions to coordinate the tracking of targets between cells, [11] extracts the topology in architectural plans for navigation, while =-=[12]-=- solves a PursuitEvasion problem by first partitioning visibility regions. Of most direct interest, [2] describes the USAR scenario where a disaster site is segmented into regions with different survi...

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...rical features of the environment to find possible intruders in an environment. A similar approach was presented in [8] and has also been recently extended to a limited field of view by Gerkey et al. =-=[5]-=-. In close proximity to control theory we find a variety of distributed control algorithms for simple cooperative tasks like [3][4][9], and [15]. In [3] Cortés et al. present an algorithm for a networ...