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GSST: anytime guaranteed search
2010
Autonomous Robots
We present Guaranteed Search with Spanning Trees (GSST), an anytime algorithm for multi-robot search. The problem is as follows: clear the environment of any adversarial target using the fewest number of searchers. This problem is NP-hard on arbitrary graphs but can be solved in linear-time on trees. Our algorithm generates spanning trees of a graphical representation of the environment to guide the search. At any time, spanning tree generation can be stopped yielding the best strategy so far.
doi:10.1007/s10514-010-9189-9
fatcat:idmfemntb5dgvbvitu3yifgbfe