Pursuit-evasion / Clearing
Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration
, “Distributed Pursuit-Evasion with Limited-Visibility Sensor Via Frontier-based Exploration”, in 2010 IEEE Int. Conf. on Robotics and Automation, Anchorage, AK, 2010, pp. 3562-3568.Decentralized Methods for Cooperative Task Execution in Multi-robot Systems
, “Decentralized Methods for Cooperative Task Execution in Multi-robot Systems”, "La Sapienza" University of Rome, 2009.Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers
, “Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers”, Autonomous Robots, vol. 32, no. 1, pp. 81-95, 2012.Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs
, “Image-based Road Network Clearing without Localization and without Maps using a Team of UAVs”, in 2014 European Control Conference, Strasbourg, France, 2014, pp. 1902-1908.
This algorithm 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. 
