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Here we present an anytime algorithm for clearing an environment using multiple searchers. Prior methods in the literature treat multi-agent search as either a worst-case problem (i.e., clear an environment of an adversarial evader with potentially infinite speed), or an average-case problem (i.e., minimize average capture time given a model of the target's motion). We introduce an algorithm that combines finite-horizon planning with spanning tree traversal methods to generate plans that cleardoi:10.15607/rss.2009.v.034 dblp:conf/rss/HollingerSK09 fatcat:pepinjsrdfazhmybymaqrca4se