This algorithm [1] addresses a distributed, visibility-based pursuit-evasion problem in which one or more searchers must coordinate to guarantee detection of any and all evaders in an unknown planar environment while using only local information.
The motivation is to develop algorithms to enable teams of robots to perform bomb or intruder detection and other related security tasks.
It is a distributed clearing algorithm for a team of d-searchers with limited range sensors.
The algorithm is built around guaranteeing complete coverage of the frontier between cleared and contaminated areas while expanding the cleared area. A novel approach to storing and updating the global frontier enables the algorithm to be truly distributed.

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