M. Yamashita, H. Unemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. Technical Report TR-96-07-01, Dept. of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, July 1996.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....Multiple Model (VS IMM) estimator combined with an assignment algorithm for tracking multiple ground targets using multiple stationary sensors. As different approaches to the same problem [11, 12, 13] have studied the target tracking problem in the context of distributed immobile sensor networks. [14, 15] introduced the Pursuit Evasion problem, and analyzed the bounds on the number of necessary pursuers algorithmically. Several prior approaches [16, 17, 18, 19, 20] exist for the online construction of topological maps. We use the approach described in [17] 3 The Region based Approach Our ....

Masfumi Yamashita, Hideki Umemoto, Ichiro Suzuki, and Tsunehiko Kameda, "Searching for mobile intruders in a polygonal region by a group of mobile searchers," in Symposium on Computational Geometry, 1997, pp. 448--450.

....of the polygon. 1 Introduction The visibility based pursuit evasion problem is that of planning the motion of one or more searchers in a polygonal environment to eventually see an intruder that is unpredictable, has unknown initial position, and is capable of moving arbitrarily fast [1 9, 11]. This problem can model many practical applications such as search for an intruder in a house, rescue of a victim in a dangerous house and other surveillance with autonomous mobile robots. The motion plan calculated could be used by robots or human searchers. This paper discusses the simplest ....

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proc. 13th Annu. ACM Sympos. Comput. Geom., pages 448--450, 1997. 18

....problem 8 is that of computing a search schedule of searchlights (stationary 1 searchers) in order to detect a mobile intruder in a polygon. Recently, the upper and the lower bound on the number of mobile searchers that are needed to search a polygon in group were also investigated in Refs. [12,10]. Our Results We present three necessary conditions for a room (P ; d) to be 1 searchable (Section 3) and show that the same conditions are also sufficient (Section 4) Our characterization is obtained by investigating specific patterns of three vertices (called order inducing triples ) that ....

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proc. 13th Annu. ACM Sympos. Comput. Geom., pages 448--450, 1997. 20

.... the searchers and the intruder can move from vertex to vertex until a searcher and the intruder eventually lie in one vertex [11, 13] After adopting geometric free space constraints and visibility of the searchers, this problem has attracted much attention in computational geometry and robotics [1, 3 6, 8, 10, 15, 16, 18]. As the first attempt, Suzuki and Yamashita [15] introduced the polygon search problem, which is the topic of this paper. They presented some necessary or su#cient conditions for a polygon to be searchable by a single searcher but no complete characterizations. Guibas et al. 3] presented a ....

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proc. 13th Annu. ACM Sympos. Comput. Geom., pages 448--450, 1997.

....problem 8 is that of computing a search schedule of searchlights (stationary 1 searchers) in order to detect a mobile intruder in a polygon. Recently, the upper and the lower bound on the number of mobile searchers that are needed to search a polygon in group were also investigated in Refs. [12,10]. Our Results We present three necessary conditions for a room (P , d) to be 1 searchable (Section 3) and show that the same conditions are also su#cient (Section 4) Our characterization is obtained by investigating specific patterns of three vertices (called order inducing triples ) that must ....

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proc. 13th Annu. ACM Sympos. Comput. Geom., pages 448--450, 1997. 20

....topological and geometric complexity of F . In [23] a class of simple polygons is identified for which a single pursuer suffices (referred to as hedgehogs ) Some interesting upper and lower bounds on H(F ) are presented in terms of free space properties such as bushiness and reflex vertices in [25]. For any F that has at least one hole, it is clear that at least two pursuers will be necessary; if a single pursuer is used, the evader could always move so that the hole is between the evader and pursuer. In some cases subtle changes in the geometry significantly affect H(F ) Consider for ....

.... only requires O(lg n) recombinations before F is obtained (i.e. the recursion depth is logarithmic in n) Based on the previous observation and the fact that each triangular region can be trivially searched by a single pursuer, H(F ) O(lg n) 2 A similar logarithmic bound was also obtained in [25]. The remaining question for simplyconnected free spaces is whether there actually exist problems that require a logarithmic number of pursuers. Some results from graph searching will first be described and utilized to construct difficult worst case problem instances. Let Parsons problem refer to ....

M. Yamashita, H. Unemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. Technical Report TR-96-07-01, Dept. of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, July 1996. 28

....for cases in which the pursuer that has omnidirectional visibility, or has a set of k beams, called ashlights. A complete algorithm for the case of omnidirectional visibility was rst presented in [10] Solutions to the case in which the pursuer has one or more detection beams are considered in [4, 11, 16, 18, 19], for various types of polygons. A pursuit evasion algorithm for curved environments was presented in [9] In [5] both optimal and approximation algorithms were presented for the case of a chain of pursuers that maintain mutual pairwise visibility in a polygonal environment. Until very recently ....

M. Yamashita, H. Unemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. Technical Report TR-96-07-01, Dept. of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, July 1996. 8

....any restrictions on the mutual visibility between the 1 searchers which, we can easily show, allows clearing of a strictly greater set of polygons as compared to a chain of k 1 guards. Finally, while the proposed problem for k 1 searchers is NP hard for polygonal regions which contain holes [13], little is known about the complexity of the problem for simple polygons. Acknowledgments We are grateful for the funding provided in part by NSF CAREER Award IRI 9875304 (LaValle) ....

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proceedings, ACM Symposium on Computational Geometry (SCG), pages 448-450, Nice, France, June

.... 1, or the 1 searcher having full 360 ffi vision (the case of a light bulb) The problem was first discussed in [13] as a dynamic version of the well known art gallery problem [11] The following two factors seem to have contributed to the recent outburst of papers [3] 6] 7] 9] 10] 14] 15] [16] on polygon search and its variants in both computational geometry conferences and robotics conferences: 1. Despite its seeming simplicity, the problem has proven quite challenging. Indeed, the algorithm given in [3] for computing a schedule of the 1 searcher to search a given polygon through ....

.... 1 searcher in an n sided polygon [7] Since sometimes a given polygon cannot be searched by a single searcher, attempts have been made to compute the the minimum required number of searchers using various parameters of the polygon, including the bushiness and the number of reflex vertices [14] [16]. Other related problems include the two guard problem [4] 5] 15] and the searchlight problem [12] In this paper we introduce a variant of the problem, termed boundary search, in which a single searcher has to find the intruders in a polygonal region from the boundary of the region, without ....

M. Yamashita, H. Umemoto, I. Suzuki and T. Kameda, "Searching for mobile intruders in a polygonal region by a group of mobile searchers," Algorithmica, to appear. 23

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M. Yamashita, H. Unemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. Technical Report TR-96-07-01, Dept. of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, July 1996.

No context found.

M. Yamashita, H. Unemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. Technical Report TR-96-07-01, Dept. of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, July 1996.

No context found.

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for a mobile intruder in a polygonal region by a group of mobile searchers. Algorithmica, 31:208--236, 2001.

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M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda, "Searching for mobile intruders in a polygonal region by a group of mobile searchers," in Symposium on Computational Geometry, 1997, pp. 448--450.

No context found.

M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for Mobile Intruders in a Polygonal Region by a Group of Mobile Searchers. Algorithmica, 31:208--236, 2001. 2289

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M. Yamashita, H. Umemoto, I. Suzuki, and T. Kameda. Searching for mobile intruders in a polygonal region by a group of mobile searchers. In Proceedings, ACM Symposium on Computational Geometry (SCG), pages 448-450, Nice, France, June 1997. 27

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