# Competitive target search with multi-agent teams: symmetric and asymmetric communication constraints

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## Abstract

We study a search game in which two multi-agent teams compete to find a stationary target at an unknown location. Each team plays a mixed strategy over the set of search sweep-patterns allowed from its respective random starting locations. Assuming that communication enables cooperation we find closed-form expressions for the probability of winning the game as a function of team sizes and the existence or absence of communication within each team. Assuming the target is distributed uniformly at random, an optimal mixed strategy equalizes the expected first-visit time to all points within the search space. The benefits of communication enabled cooperation increase with team size. Simulations and experiments agree well with analytical results.

## Keywords

Multi-agent system Competitive search Search and rescue Search game## Notes

### Acknowledgements

We would like to thank Colin Ward, Corbin Wilhelmi, and Cyrus Vorwald for their help in facilitating the mixed platform experiments.

## Supplementary material

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