@article {2011c-DurFraBul,
	title = {Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers},
	journal = {Autonomous Robots},
	volume = {32},
	year = {2012},
	month = {01/2012},
	pages = {81-95},
	abstract = {This paper addresses a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a map of the environment or requiring global localization. We demonstrate the functionality of the algorithm through simulations in realistic environments and through hardware experiments. We also compare Monte Carlo results for our algorithm to the theoretical optimum area cleared as a function of the number of robots available.},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	url = {http://www.springerlink.com/content/a02pr41790ll754w/},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011c-DurFraBul-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2011c-DurFraBul-video1.mp4},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
@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}
}
