2016/07/11 by Ghodsi, Mohammad, Mahdavi, Salma Sadat, Sheshkalani, Ali Narenji
#Computational Geometry (cs.CG) #FOS: Computer and information sciences
paper · doi:10.48550/arxiv.1607.03039
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 P. A point p can be covered by a sliding robot that moves along a line segment s, if there exists a point q∈ s such that pq is a line segment perpendicular to s. 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 P 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.