1 research outputs found
Clearing an Orthogonal Polygon Using Sliding Robots
In a multi-robot system, a number of autonomous robots would sense,
communicate, and decide to move within a given domain to achieve a common goal.
In this paper, we consider a new variant of the pursuit-evasion problem in
which the robots (pursuers) each move back and forth along an orthogonal line
segment inside a simple orthogonal polygon . A point can be covered by a
sliding robot that moves along a line segment s, if there exists a point such that is a line segment perpendicular to . In the
pursuit-evasion problem, a polygonal region is given and a robot called a
pursuer tries to find some mobile targets called evaders. The goal of this
problem is to design a motion strategy for the pursuer such that it can detect
all the evaders. We assume that includes unpredictable, moving evaders that
have unbounded speed. We propose a motion-planning algorithm for a group of
sliding robots, assuming that they move along the pre-located line segments
with a constant speed to detect all the evaders with unbounded speed.Comment: 11 pages, 6 figure