Autonomous Robots

, 31:299

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Search and pursuit-evasion in mobile robotics

A survey
  • Timothy H. ChungAffiliated withDepartment of Systems Engineering, Graduate School of Engineering and Applied Sciences, Naval Postgraduate School
  • , Geoffrey A. HollingerAffiliated withComputer Science Department, Viterbi School of Engineering, University of Southern California Email author 
  • , Volkan IslerAffiliated withDepartment of Computer Science and Engineering, College of Science and Engineering, University of Minnesota

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This paper surveys recent results in pursuit-evasion and autonomous search relevant to applications in mobile robotics. We provide a taxonomy of search problems that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment. We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems. In addition, we highlight current open problems in the area and explore avenues for future work.


Autonomous search Pursuit-evasion Search theory