TY - GEN
T1 - Multi-robot Searching with Limited Sensing Range for Static and Mobile Intruders
AU - Agrawal, Swadhin
AU - Bhore, Sujoy
AU - Mitchell, Joseph S.B.
AU - Sujit, P. B.
AU - Gohil, Aayush
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders. It turns out that the problem of finding an intruder is NP-hard, even for a stationary intruder. Given this intractability, we turn our attention towards developing efficient and robust algorithms, namely methods based on space-filling curves, random search, and cooperative random search. Moreover, for each proposed algorithm, we evaluate the trade-off between the number of search robots and the time required for the robots to complete the search process.
AB - We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the coordinate axes. Each robot has a limited sensing capability. We study the problem for both static and mobile intruders. It turns out that the problem of finding an intruder is NP-hard, even for a stationary intruder. Given this intractability, we turn our attention towards developing efficient and robust algorithms, namely methods based on space-filling curves, random search, and cooperative random search. Moreover, for each proposed algorithm, we evaluate the trade-off between the number of search robots and the time required for the robots to complete the search process.
UR - https://www.scopus.com/pages/publications/105024875601
U2 - 10.1109/ETAAV66793.2025.11213328
DO - 10.1109/ETAAV66793.2025.11213328
M3 - Conference contribution
AN - SCOPUS:105024875601
T3 - 2025 IEEE International Conference on Emerging Technologies in Autonomous Aerial Vehicles, ETAAV 2025 - Proceedings
BT - 2025 IEEE International Conference on Emerging Technologies in Autonomous Aerial Vehicles, ETAAV 2025 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE International Conference on Emerging Technologies in Autonomous Aerial Vehicles, ETAAV 2025
Y2 - 18 August 2025 through 20 August 2025
ER -