@conference {2010b-DurFraBul,
	title = {Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration},
	booktitle = {2010 IEEE Int. Conf. on Robotics and Automation},
	year = {2010},
	month = {05/2010},
	pages = {3562-3568},
	address = {Anchorage, AK},
	abstract = {This paper addresses a novel visibility-based pursuit-evasion problem in which a team of searchers with limited range sensors must coordinate to clear any evaders from an unknown planar environment. We present a distributed algorithm built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. Our frontier-based algorithm can guarantee detection of evaders in unknown, multiply-connected planar environments which may be non-polygonal. We also detail a method for storing and updating the global frontier between cleared and contaminated areas without building a global map or requiring global localization, which enables our algorithm to be truly distributed. We demonstrate the functionality of the algorithm through Player/Stage simulations. },
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2010b-DurFraBul.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/ICRA10-FinalSub.mp4},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
